pr2_gazebo.launch fails on indigo

I staill have following errors, how did you fix that?

$ roslaunch jsk_pr2_startup pr2_gazebo.launch
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
... logging to /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/roslaunch-kokada-t440s-24995.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
started roslaunch server http://kokada-t440s:57777/

SUMMARY
========

CLEAR PARAMETERS
 * /depth_image_creator_nodelet/
 * /move_base_node/
 * /pointcloud_screenpoint_nodelet/

PARAMETERS
 * /active_user/launch_user_name: False
 * /amcl/base_frame_id: /base_footprint
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 30
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 5000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.8
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: /odom_combined
 * /amcl/odom_model_type: omni
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 0.1
 * /amcl/update_min_a: 0.5
 * /amcl/update_min_d: 0.2
 * /amcl/use_map_topic: True
 * /base_controller/bl_caster_l_wheel_joint/d: 0.0
 * /base_controller/bl_caster_l_wheel_joint/i: 0.0
 * /base_controller/bl_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/bl_caster_l_wheel_joint/p: 3.0
 * /base_controller/bl_caster_r_wheel_joint/d: 0.0
 * /base_controller/bl_caster_r_wheel_joint/i: 0.0
 * /base_controller/bl_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/bl_caster_r_wheel_joint/p: 3.0
 * /base_controller/bl_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/bl_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/bl_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/bl_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/br_caster_l_wheel_joint/d: 0.0
 * /base_controller/br_caster_l_wheel_joint/i: 0.0
 * /base_controller/br_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/br_caster_l_wheel_joint/p: 3.0
 * /base_controller/br_caster_r_wheel_joint/d: 0.0
 * /base_controller/br_caster_r_wheel_joint/i: 0.0
 * /base_controller/br_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/br_caster_r_wheel_joint/p: 3.0
 * /base_controller/br_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/br_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/br_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/br_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/caster_names: fr_caster_rotatio...
 * /base_controller/caster_position_pid_gains/d: 0.0
 * /base_controller/caster_position_pid_gains/i: 0.0
 * /base_controller/caster_position_pid_gains/i_clamp: 3.45
 * /base_controller/caster_position_pid_gains/p: 80.0
 * /base_controller/caster_velocity_filter/name: caster_velocity_f...
 * /base_controller/caster_velocity_filter/params/a: [1.0, -0.98]
 * /base_controller/caster_velocity_filter/params/b: [0.02]
 * /base_controller/caster_velocity_filter/type: filters/MultiChan...
 * /base_controller/caster_velocity_pid_gains/d: 0.0
 * /base_controller/caster_velocity_pid_gains/i: 0.0
 * /base_controller/caster_velocity_pid_gains/i_clamp: 4.0
 * /base_controller/caster_velocity_pid_gains/p: 8.0
 * /base_controller/fl_caster_l_wheel_joint/d: 0.0
 * /base_controller/fl_caster_l_wheel_joint/i: 0.0
 * /base_controller/fl_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/fl_caster_l_wheel_joint/p: 3.0
 * /base_controller/fl_caster_r_wheel_joint/d: 0.0
 * /base_controller/fl_caster_r_wheel_joint/i: 0.0
 * /base_controller/fl_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/fl_caster_r_wheel_joint/p: 3.0
 * /base_controller/fl_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/fl_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/fl_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/fl_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/fr_caster_l_wheel_joint/d: 0.0
 * /base_controller/fr_caster_l_wheel_joint/i: 0.0
 * /base_controller/fr_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/fr_caster_l_wheel_joint/p: 3.0
 * /base_controller/fr_caster_r_wheel_joint/d: 0.0
 * /base_controller/fr_caster_r_wheel_joint/i: 0.0
 * /base_controller/fr_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/fr_caster_r_wheel_joint/p: 3.0
 * /base_controller/fr_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/fr_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/fr_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/fr_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/joint_trajectory_action/base_link_pan/max_velocity: 0.505
 * /base_controller/joint_trajectory_action/base_link_x/max_velocity: 0.305
 * /base_controller/joint_trajectory_action/base_link_y/max_velocity: 0.305
 * /base_controller/joint_trajectory_action/goal_threshold: 10.0
 * /base_controller/joint_trajectory_action/rotational_joint_name: base_link_pan
 * /base_controller/joint_trajectory_action/x_joint_name: base_link_x
 * /base_controller/joint_trajectory_action/y_joint_name: base_link_y
 * /base_controller/max_rotational_acceleration: 2.0
 * /base_controller/max_rotational_velocity: 2.0
 * /base_controller/max_translational_acceleration/x: 2.0
 * /base_controller/max_translational_acceleration/y: 2.0
 * /base_controller/max_translational_velocity: 1.0
 * /base_controller/publish_tf: False
 * /base_controller/state_publish_rate: 0.25
 * /base_controller/timeout: 0.2
 * /base_controller/type: pr2_mechanism_con...
 * /base_controller/wheel_pid_gains/d: 0.0
 * /base_controller/wheel_pid_gains/i: 0.0
 * /base_controller/wheel_pid_gains/i_clamp: 2.0
 * /base_controller/wheel_pid_gains/p: 3.0
 * /base_hokuyo_node/frame_id: base_laser_link
 * /base_hokuyo_node/intensity: False
 * /base_hokuyo_node/max_ang: 2.2689
 * /base_hokuyo_node/min_ang: -2.2689
 * /base_hokuyo_node/port: /etc/ros/sensors/...
 * /base_hokuyo_node/skip: 1
 * /base_laser_self_filter/min_sensor_dist: 0.05
 * /base_laser_self_filter/self_see_default_padding: 0.01
 * /base_laser_self_filter/self_see_default_scale: 1.0
 * /base_laser_self_filter/self_see_links: [{'padding': 0.04...
 * /base_laser_self_filter/sensor_frame: base_laser_link
 * /base_odometry/base_footprint_frame: base_footprint
 * /base_odometry/base_link_frame: base_link
 * /base_odometry/caster_calibration_multiplier: 1.0
 * /base_odometry/caster_names: fr_caster_rotatio...
 * /base_odometry/cov_xrotation: 0.0
 * /base_odometry/cov_xy: 0.0
 * /base_odometry/cov_yrotation: 0.0
 * /base_odometry/ils_max_iterations: 3
 * /base_odometry/odom_frame: odom
 * /base_odometry/odom_publish_rate: 100.0
 * /base_odometry/odometer_publish_rate: 1.0
 * /base_odometry/publish_tf: False
 * /base_odometry/rotation_stddev: 0.017
 * /base_odometry/state_publish_rate: 1.0
 * /base_odometry/type: pr2_mechanism_con...
 * /base_odometry/verbose: False
 * /base_odometry/wheel_radius_multiplier: 1.0
 * /base_odometry/x_stddev: 0.002
 * /base_odometry/y_stddev: 0.002
 * /base_scan_marking_to_laserscan/concurrency_level: 0
 * /base_shadow_filter/cloud_filter_chain: [{'type': 'pr2_na...
 * /base_shadow_filter/scan_filter_chain: [{'type': 'ScanSh...
 * /base_shadow_filter/target_frame: base_footprint
 * /cmd_vel_selector/default_select: /navigation/unsaf...
 * /depth_image_creator_nodelet/max_queue_size: 10
 * /depth_image_creator_nodelet/scale_depth: 5.0
 * /depth_image_creator_nodelet/use_approximate: True
 * /depth_image_creator_nodelet/use_asynchronous: False
 * /depth_image_creator_nodelet/use_fixed_transform: False
 * /depth_image_creator_nodelet/use_service: False
 * /diag_agg/analyzers/joints/expected: ['Joint (bl_caste...
 * /diag_agg/analyzers/joints/path: Joints
 * /diag_agg/analyzers/joints/startswith: ['Joint']
 * /diag_agg/analyzers/joints/type: GenericAnalyzer
 * /elbow_flex_gains/d: 2.0
 * /elbow_flex_gains/i: 0.0
 * /elbow_flex_gains/i_clamp: 0.0
 * /elbow_flex_gains/p: 40.0
 * /empty_cloud_publisher/frame_id: /laser_tilt_link
 * /face_detector/approximate_sync: True
 * /face_detector/classifier_filename: /opt/ros/indigo/s...
 * /face_detector/classifier_name: frontalface
 * /face_detector/classifier_reliability: 0.8
 * /face_detector/do_continuous: True
 * /face_detector/do_display: False
 * /face_detector/do_publish_faces_of_unknown_size: False
 * /face_detector/face_size_min_m: 0.1
 * /face_detector/fixed_frame: kinect_head_rgb_o...
 * /face_detector/use_rgbd: True
 * /forearm_roll_gains/d: 2.0
 * /forearm_roll_gains/i: 0.0
 * /forearm_roll_gains/i_clamp: 0.0
 * /forearm_roll_gains/p: 20.0
 * /head_controller/pan_controller/joint: head_pan_joint
 * /head_controller/pan_controller/pid/d: 0.5
 * /head_controller/pan_controller/pid/i: 0.0
 * /head_controller/pan_controller/pid/i_clamp: 0.0
 * /head_controller/pan_controller/pid/p: 10.0
 * /head_controller/pan_controller/type: robot_mechanism_c...
 * /head_controller/pan_link_name: head_pan_link
 * /head_controller/tilt_controller/joint: head_tilt_joint
 * /head_controller/tilt_controller/pid/d: 0.04
 * /head_controller/tilt_controller/pid/i: 0.0
 * /head_controller/tilt_controller/pid/i_clamp: 0.0
 * /head_controller/tilt_controller/pid/p: 0.6
 * /head_controller/tilt_controller/type: robot_mechanism_c...
 * /head_controller/tilt_link_name: head_tilt_link
 * /head_controller/type: pr2_mechanism_con...
 * /head_traj_controller/command_selector/default_select: command_dummy
 * /head_traj_controller/gains/head_pan_joint/d: 2.0
 * /head_traj_controller/gains/head_pan_joint/i: 12.0
 * /head_traj_controller/gains/head_pan_joint/i_clamp: 0.5
 * /head_traj_controller/gains/head_pan_joint/p: 25.0
 * /head_traj_controller/gains/head_tilt_joint/d: 1.6
 * /head_traj_controller/gains/head_tilt_joint/i: 2.0
 * /head_traj_controller/gains/head_tilt_joint/i_clamp: 0.1
 * /head_traj_controller/gains/head_tilt_joint/p: 49.6
 * /head_traj_controller/joints: ['head_pan_joint'...
 * /head_traj_controller/type: robot_mechanism_c...
 * /head_traj_controller_loose/gains/head_pan_joint/d: 0.75
 * /head_traj_controller_loose/gains/head_pan_joint/i: 18.0
 * /head_traj_controller_loose/gains/head_pan_joint/i_clamp: 0.5
 * /head_traj_controller_loose/gains/head_pan_joint/p: 15.0
 * /head_traj_controller_loose/gains/head_tilt_joint/d: 2
 * /head_traj_controller_loose/gains/head_tilt_joint/i: 1.5
 * /head_traj_controller_loose/gains/head_tilt_joint/i_clamp: 0.1
 * /head_traj_controller_loose/gains/head_tilt_joint/p: 50
 * /head_traj_controller_loose/joints: ['head_pan_joint'...
 * /head_traj_controller_loose/type: robot_mechanism_c...
 * /image_input_mux_throttle/update_rate: 5
 * /image_view2_for_tablet/blurry: True
 * /image_view2_for_tablet/use_window: False
 * /interpolate_missing_tilt_laser_data_filter/scan_filter_chain: [{'type': 'Interp...
 * /kinect_head/kinect_head_nodelet_manager/num_worker_threads: 4
 * /l_arm_controller/gains/l_elbow_flex_joint/d: 4.0
 * /l_arm_controller/gains/l_elbow_flex_joint/i: 450
 * /l_arm_controller/gains/l_elbow_flex_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_elbow_flex_joint/p: 700.0
 * /l_arm_controller/gains/l_forearm_roll_joint/d: 6.0
 * /l_arm_controller/gains/l_forearm_roll_joint/i: 300
 * /l_arm_controller/gains/l_forearm_roll_joint/i_clamp: 2.0
 * /l_arm_controller/gains/l_forearm_roll_joint/p: 300.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/d: 10.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/i: 700.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/p: 1200.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/d: 18.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/i: 800.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/p: 2400.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/d: 6.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/i: 600.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/p: 1000.0
 * /l_arm_controller/gains/l_wrist_flex_joint/d: 4.0
 * /l_arm_controller/gains/l_wrist_flex_joint/i: 300
 * /l_arm_controller/gains/l_wrist_flex_joint/i_clamp: 2.0
 * /l_arm_controller/gains/l_wrist_flex_joint/p: 300.0
 * /l_arm_controller/gains/l_wrist_roll_joint/d: 4.0
 * /l_arm_controller/gains/l_wrist_roll_joint/i: 300
 * /l_arm_controller/gains/l_wrist_roll_joint/i_clamp: 2.0
 * /l_arm_controller/gains/l_wrist_roll_joint/p: 300.0
 * /l_arm_controller/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_elbow_flex_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_lift_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/joints: ['l_shoulder_pan_...
 * /l_arm_controller/joints: ['l_shoulder_pan_...
 * /l_arm_controller/type: robot_mechanism_c...
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/d: 2.0
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/p: 40.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/d: 2.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/p: 20.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/d: 12.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/mass: 2.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/p: 60.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/acc_converge: 1.5
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/effort_limit: 8.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/lambda: 3.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/vel_limit: 2.082
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/d: 5.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/mass: 3.3
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/p: 50.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/acc_converge: 1.5
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/effort_limit: 11.8
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/lambda: 3.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/vel_limit: 2.088
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/d: 3.0
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/p: 45.0
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/d: 0.5
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/p: 13.0
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/d: 0.25
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/p: 6.25
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_elbow_flex_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_shoulder_lift_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/joints: ['l_shoulder_pan_...
 * /l_arm_controller_loose/joints: ['l_shoulder_pan_...
 * /l_arm_controller_loose/type: robot_mechanism_c...
 * /l_gripper_controller/gripper_action_node/stall_timeout: 0.5
 * /l_gripper_controller/gripper_action_node/stall_velocity_threshold: 0.02
 * /l_gripper_controller/joint: l_gripper_joint
 * /l_gripper_controller/pid/p: 1000.0
 * /l_gripper_controller/type: pr2_mechanism_con...
 * /laser_tilt_controller/gains/d: 0.2
 * /laser_tilt_controller/gains/i: 0.1
 * /laser_tilt_controller/gains/i_clamp: 0.5
 * /laser_tilt_controller/gains/p: 8.0
 * /laser_tilt_controller/joint: laser_tilt_mount_...
 * /laser_tilt_controller/max_acceleration: 30
 * /laser_tilt_controller/max_velocity: 100
 * /laser_tilt_controller/type: pr2_mechanism_con...
 * /laser_tilt_controller/velocity_filter: [{'type': 'filter...
 * /left_camera_info_relay/lazy: True
 * /left_image_raw_relay/lazy: True
 * /leg_detector/fixed_frame: base_link
 * /map_server00_kokada_t440s_24995_7722668761847551031/frame_id: /eng2/7f
 * /map_server01_kokada_t440s_24995_509067558297869141/frame_id: /eng2/1f
 * /map_server02_kokada_t440s_24995_2436156793313808016/frame_id: /eng2/2f
 * /map_server03_kokada_t440s_24995_5048706112666696630/frame_id: /eng2/3f
 * /map_server04_kokada_t440s_24995_8351976962024515251/frame_id: /eng2/8f
 * /marked_camera_info/lazy: True
 * /move_base_node/DWAPlannerROS/acc_lim_th: 3.2
 * /move_base_node/DWAPlannerROS/acc_lim_x: 2.5
 * /move_base_node/DWAPlannerROS/acc_lim_y: 2.5
 * /move_base_node/DWAPlannerROS/forward_point_distance: 0.325
 * /move_base_node/DWAPlannerROS/goal_distance_bias: 32.0
 * /move_base_node/DWAPlannerROS/max_rot_vel: 1.0
 * /move_base_node/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base_node/DWAPlannerROS/max_trans_vel: 0.55
 * /move_base_node/DWAPlannerROS/max_vel_x: 0.55
 * /move_base_node/DWAPlannerROS/max_vel_y: 0.1
 * /move_base_node/DWAPlannerROS/min_rot_vel: 0.4
 * /move_base_node/DWAPlannerROS/min_trans_vel: 0.1
 * /move_base_node/DWAPlannerROS/min_vel_x: 0.0
 * /move_base_node/DWAPlannerROS/min_vel_y: -0.1
 * /move_base_node/DWAPlannerROS/occdist_scale: 0.01
 * /move_base_node/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base_node/DWAPlannerROS/path_distance_bias: 24.0
 * /move_base_node/DWAPlannerROS/rot_stopped_vel: 0.01
 * /move_base_node/DWAPlannerROS/scaling_speed: 0.25
 * /move_base_node/DWAPlannerROS/sim_granularity: 0.025
 * /move_base_node/DWAPlannerROS/sim_period: 0.1
 * /move_base_node/DWAPlannerROS/sim_time: 1.7
 * /move_base_node/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base_node/DWAPlannerROS/trans_stopped_vel: 0.01
 * /move_base_node/DWAPlannerROS/vtheta_samples: 20
 * /move_base_node/DWAPlannerROS/vx_samples: 3
 * /move_base_node/DWAPlannerROS/vy_samples: 10
 * /move_base_node/DWAPlannerROS/xy_goal_tolerance: 0.2
 * /move_base_node/DWAPlannerROS/yaw_goal_tolerance: 0.17
 * /move_base_node/aggressive_reset/reset_distance: 1.84
 * /move_base_node/base_local_planner: dwa_local_planner...
 * /move_base_node/clearing_radius: 0.59
 * /move_base_node/conservative_reset/reset_distance: 3.0
 * /move_base_node/controller_frequency: 10.0
 * /move_base_node/controller_patience: 15.0
 * /move_base_node/footprint_padding: 0.015
 * /move_base_node/global_costmap/footprint: [[-0.325, -0.325]...
 * /move_base_node/global_costmap/global_frame: map
 * /move_base_node/global_costmap/inflation_layer/inflation_radius: 0.2
 * /move_base_node/global_costmap/inflation_radius: 0.2
 * /move_base_node/global_costmap/mark_threshold: 0
 * /move_base_node/global_costmap/obstacle_layer/mark_threshold: 0
 * /move_base_node/global_costmap/obstacle_layer/origin_z: 0.0
 * /move_base_node/global_costmap/obstacle_layer/unknown_threshold: 8
 * /move_base_node/global_costmap/obstacle_layer/z_resolution: 0.1125
 * /move_base_node/global_costmap/obstacle_layer/z_voxels: 16
 * /move_base_node/global_costmap/obstacle_range: 2.5
 * /move_base_node/global_costmap/origin_z: 0.0
 * /move_base_node/global_costmap/plugins: [{'type': 'costma...
 * /move_base_node/global_costmap/publish_frequency: 0.0
 * /move_base_node/global_costmap/raytrace_range: 3.0
 * /move_base_node/global_costmap/robot_base_frame: base_footprint
 * /move_base_node/global_costmap/rolling_window: False
 * /move_base_node/global_costmap/static_map: True
 * /move_base_node/global_costmap/transform_tolerance: 1.0
 * /move_base_node/global_costmap/unknown_cost_value: 0
 * /move_base_node/global_costmap/unknown_threshold: 8
 * /move_base_node/global_costmap/update_frequency: 5.0
 * /move_base_node/global_costmap/z_resolution: 0.1125
 * /move_base_node/global_costmap/z_voxels: 16
 * /move_base_node/local_costmap/global_frame: odom_combined
 * /move_base_node/local_costmap/height: 6.0
 * /move_base_node/local_costmap/inflation_layer/inflation_radius: 0.2
 * /move_base_node/local_costmap/inflation_radius: 0.2
 * /move_base_node/local_costmap/mark_threshold: 0
 * /move_base_node/local_costmap/obstacle_layer/mark_threshold: 0
 * /move_base_node/local_costmap/obstacle_layer/origin_z: 0.0
 * /move_base_node/local_costmap/obstacle_layer/unknown_threshold: 8
 * /move_base_node/local_costmap/obstacle_layer/z_resolution: 0.1125
 * /move_base_node/local_costmap/obstacle_layer/z_voxels: 16
 * /move_base_node/local_costmap/obstacle_range: 2.5
 * /move_base_node/local_costmap/obstacles/base_scan/clearing: True
 * /move_base_node/local_costmap/obstacles/base_scan/data_type: LaserScan
 * /move_base_node/local_costmap/obstacles/base_scan/expected_update_rate: 0.1
 * /move_base_node/local_costmap/obstacles/base_scan/marking: False
 * /move_base_node/local_costmap/obstacles/base_scan/sensor_frame: /base_laser_link
 * /move_base_node/local_costmap/obstacles/base_scan/topic: /base_scan
 * /move_base_node/local_costmap/obstacles/base_scan_marking/clearing: True
 * /move_base_node/local_costmap/obstacles/base_scan_marking/data_type: PointCloud2
 * /move_base_node/local_costmap/obstacles/base_scan_marking/expected_update_rate: 0.2
 * /move_base_node/local_costmap/obstacles/base_scan_marking/marking: True
 * /move_base_node/local_costmap/obstacles/base_scan_marking/max_obstacle_height: 2.0
 * /move_base_node/local_costmap/obstacles/base_scan_marking/min_obstacle_height: 0.08
 * /move_base_node/local_costmap/obstacles/base_scan_marking/observation_persistence: 0.1
 * /move_base_node/local_costmap/obstacles/base_scan_marking/sensor_frame: base_laser_link
 * /move_base_node/local_costmap/obstacles/base_scan_marking/topic: /base_scan_marking
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/clearing: False
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/data_type: PointCloud2
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/expected_update_rate: 0.2
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/marking: True
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/max_obstacle_height: 1.8
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/min_obstacle_height: -0.1
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/observation_persistence: 0.7
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/sensor_frame: laser_tilt_link
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/topic: /ground_object_cl...
 * /move_base_node/local_costmap/obstacles/observation_sources: base_scan_marking...
 * /move_base_node/local_costmap/obstacles/tilt_scan/clearing: True
 * /move_base_node/local_costmap/obstacles/tilt_scan/data_type: LaserScan
 * /move_base_node/local_costmap/obstacles/tilt_scan/expected_update_rate: 0.2
 * /move_base_node/local_costmap/obstacles/tilt_scan/marking: False
 * /move_base_node/local_costmap/obstacles/tilt_scan/max_obstacle_height: 40.0
 * /move_base_node/local_costmap/obstacles/tilt_scan/min_obstacle_height: -20.0
 * /move_base_node/local_costmap/obstacles/tilt_scan/observation_persistence: 0.2
 * /move_base_node/local_costmap/obstacles/tilt_scan/sensor_frame: laser_tilt_link
 * /move_base_node/local_costmap/obstacles/tilt_scan/topic: /tilt_scan
 * /move_base_node/local_costmap/origin_x: 0.0
 * /move_base_node/local_costmap/origin_y: 0.0
 * /move_base_node/local_costmap/origin_z: 0.0
 * /move_base_node/local_costmap/passing/amplitude: 20.0
 * /move_base_node/local_costmap/passing/covariance: 0.15
 * /move_base_node/local_costmap/passing/cutoff: 17.0
 * /move_base_node/local_costmap/passing/enabled: True
 * /move_base_node/local_costmap/passing/factor: 5.0
 * /move_base_node/local_costmap/passing/keep_time: 0.2
 * /move_base_node/local_costmap/people/amplitude: 20.0
 * /move_base_node/local_costmap/people/covariance: 0.25
 * /move_base_node/local_costmap/people/cutoff: 16.0
 * /move_base_node/local_costmap/people/enabled: True
 * /move_base_node/local_costmap/people/factor: 5.0
 * /move_base_node/local_costmap/people/keep_time: 0.2
 * /move_base_node/local_costmap/plugins: [{'type': 'costma...
 * /move_base_node/local_costmap/publish_frequency: 10.0
 * /move_base_node/local_costmap/publish_voxel_map: True
 * /move_base_node/local_costmap/raytrace_range: 3.0
 * /move_base_node/local_costmap/resolution: 0.025
 * /move_base_node/local_costmap/robot_base_frame: base_footprint
 * /move_base_node/local_costmap/rolling_window: True
 * /move_base_node/local_costmap/static_map: False
 * /move_base_node/local_costmap/transform_tolerance: 1.0
 * /move_base_node/local_costmap/unknown_cost_value: 0
 * /move_base_node/local_costmap/unknown_threshold: 8
 * /move_base_node/local_costmap/width: 6.0
 * /move_base_node/local_costmap/z_resolution: 0.1125
 * /move_base_node/local_costmap/z_voxels: 16
 * /move_base_node/move_slow_and_clear/clearing_distance: 0.5
 * /move_base_node/move_slow_and_clear/limited_distance: 0.3
 * /move_base_node/move_slow_and_clear/limited_rot_speed: 0.45
 * /move_base_node/move_slow_and_clear/limited_trans_speed: 0.25
 * /move_base_node/recovery_behaviors: [{'type': 'clear_...
 * /move_base_node/super_conservative_reset/reset_distance: 5.0
 * /mux_for_camera_info/lazy: True
 * /mux_for_image/lazy: True
 * /mux_for_points/lazy: True
 * /narrow_stereo/narrow_stereo_proc/approximate_sync: True
 * /narrow_stereo/narrow_stereo_proc/disparity_range: 128
 * /narrow_stereo_textured/narrow_stereo_textured_proc/approximate_sync: True
 * /narrow_stereo_textured/narrow_stereo_textured_proc/disparity_range: 128
 * /pointcloud_screenpoint_nodelet/crop_size: 10
 * /pointcloud_screenpoint_nodelet/publish_point: True
 * /pointcloud_screenpoint_nodelet/publish_points: False
 * /pointcloud_screenpoint_nodelet/queue_size: 4
 * /pointcloud_screenpoint_nodelet/search_size: 16
 * /pointcloud_screenpoint_nodelet/use_point: True
 * /pointcloud_screenpoint_nodelet/use_point_array: True
 * /pointcloud_screenpoint_nodelet/use_rect: False
 * /pointcloud_screenpoint_nodelet/use_sync: False
 * /pr2_controller_manager/joint_state_publish_rate: 100.0
 * /pr2_controller_manager/mechanism_statistics_publish_rate: 1.0
 * /pr2_left_arm_kinematics/root_name: torso_lift_link
 * /pr2_left_arm_kinematics/tip_name: l_wrist_roll_link
 * /pr2_right_arm_kinematics/root_name: torso_lift_link
 * /pr2_right_arm_kinematics/tip_name: r_wrist_roll_link
 * /pr2_teleop_general_joystick/control_body: True
 * /pr2_teleop_general_joystick/control_head: True
 * /pr2_teleop_general_joystick/control_larm: True
 * /pr2_teleop_general_joystick/control_prosilica: False
 * /pr2_teleop_general_joystick/control_rarm: True
 * /pr2_teleop_general_joystick/walk_along_w_speed_scale: 3.0
 * /pr2_teleop_general_joystick/walk_along_x_dist_max: 0.25
 * /pr2_teleop_general_joystick/walk_along_x_speed_scale: 3.0
 * /pr2_teleop_general_joystick/walk_along_y_dist_max: 0.2
 * /pr2_teleop_general_joystick/walk_along_y_speed_scale: 1.0
 * /publish_spot/scene: eng2
 * /r_arm_controller/gains/r_elbow_flex_joint/d: 4.0
 * /r_arm_controller/gains/r_elbow_flex_joint/i: 450
 * /r_arm_controller/gains/r_elbow_flex_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_elbow_flex_joint/p: 700.0
 * /r_arm_controller/gains/r_forearm_roll_joint/d: 6.0
 * /r_arm_controller/gains/r_forearm_roll_joint/i: 300
 * /r_arm_controller/gains/r_forearm_roll_joint/i_clamp: 2.0
 * /r_arm_controller/gains/r_forearm_roll_joint/p: 300.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/d: 10.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/i: 700.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/p: 1200.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/d: 18.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/i: 800.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/p: 2400.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/d: 6.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/i: 600.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/p: 1000.0
 * /r_arm_controller/gains/r_wrist_flex_joint/d: 4.0
 * /r_arm_controller/gains/r_wrist_flex_joint/i: 300
 * /r_arm_controller/gains/r_wrist_flex_joint/i_clamp: 2.0
 * /r_arm_controller/gains/r_wrist_flex_joint/p: 300.0
 * /r_arm_controller/gains/r_wrist_roll_joint/d: 4.0
 * /r_arm_controller/gains/r_wrist_roll_joint/i: 300
 * /r_arm_controller/gains/r_wrist_roll_joint/i_clamp: 2.0
 * /r_arm_controller/gains/r_wrist_roll_joint/p: 300.0
 * /r_arm_controller/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/joints: ['r_shoulder_pan_...
 * /r_arm_controller/joints: ['r_shoulder_pan_...
 * /r_arm_controller/type: robot_mechanism_c...
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/d: 2.0
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/p: 40.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/d: 2.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/p: 20.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/d: 12.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/mass: 2.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/p: 60.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/acc_converge: 1.5
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/effort_limit: 8.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/lambda: 3.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/vel_limit: 2.082
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/d: 5.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/mass: 3.3
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/p: 50.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/acc_converge: 1.5
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/effort_limit: 11.8
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/lambda: 3.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/vel_limit: 2.088
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/d: 3.0
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/p: 45.0
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/d: 0.5
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/p: 13.0
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/d: 0.25
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/p: 6.25
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/joints: ['r_shoulder_pan_...
 * /r_arm_controller_loose/joints: ['r_shoulder_pan_...
 * /r_arm_controller_loose/type: robot_mechanism_c...
 * /r_gripper_controller/gripper_action_node/stall_timeout: 0.5
 * /r_gripper_controller/gripper_action_node/stall_velocity_threshold: 0.02
 * /r_gripper_controller/joint: r_gripper_joint
 * /r_gripper_controller/pid/p: 1000.0
 * /r_gripper_controller/type: pr2_mechanism_con...
 * /right_camera_info_relay/lazy: True
 * /right_image_raw_relay/lazy: True
 * /robot_description: <?xml version="1....
 * /robot_pose_ekf/freq: 30.0
 * /robot_pose_ekf/imu_used: True
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/publish_tf: True
 * /robot_pose_ekf/sensor_timeout: 1.0
 * /robot_pose_ekf/vo_used: False
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /sac_ground_removal/planar_refine: 1
 * /sac_ground_removal/sac_distance_threshold: 0.5
 * /sac_ground_removal/sac_min_points_per_model: 40
 * /sac_ground_removal/z_threshold: 0.15
 * /safe_teleop_base/footprint: [[-0.325, -0.325]...
 * /safe_teleop_base/footprint_padding: 0.015
 * /safe_teleop_base/local_costmap/base_scan/clearing: True
 * /safe_teleop_base/local_costmap/base_scan/data_type: LaserScan
 * /safe_teleop_base/local_costmap/base_scan/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/base_scan/marking: False
 * /safe_teleop_base/local_costmap/base_scan/max_obstacle_height: 2.0
 * /safe_teleop_base/local_costmap/base_scan/min_obstacle_height: -0.1
 * /safe_teleop_base/local_costmap/base_scan/observation_persistence: 0.0
 * /safe_teleop_base/local_costmap/base_scan/sensor_frame: base_laser_link
 * /safe_teleop_base/local_costmap/base_scan/topic: /base_scan
 * /safe_teleop_base/local_costmap/base_scan_marking/clearing: False
 * /safe_teleop_base/local_costmap/base_scan_marking/data_type: PointCloud2
 * /safe_teleop_base/local_costmap/base_scan_marking/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/base_scan_marking/marking: True
 * /safe_teleop_base/local_costmap/base_scan_marking/max_obstacle_height: 2.0
 * /safe_teleop_base/local_costmap/base_scan_marking/min_obstacle_height: 0.08
 * /safe_teleop_base/local_costmap/base_scan_marking/observation_persistence: 0.0
 * /safe_teleop_base/local_costmap/base_scan_marking/sensor_frame: base_laser_link
 * /safe_teleop_base/local_costmap/base_scan_marking/topic: /base_scan_marking
 * /safe_teleop_base/local_costmap/footprint: [[-0.325, -0.325]...
 * /safe_teleop_base/local_costmap/global_frame: odom_combined
 * /safe_teleop_base/local_costmap/ground_object_cloud/clearing: False
 * /safe_teleop_base/local_costmap/ground_object_cloud/data_type: PointCloud2
 * /safe_teleop_base/local_costmap/ground_object_cloud/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/ground_object_cloud/marking: True
 * /safe_teleop_base/local_costmap/ground_object_cloud/max_obstacle_height: 2.0
 * /safe_teleop_base/local_costmap/ground_object_cloud/min_obstacle_height: -0.1
 * /safe_teleop_base/local_costmap/ground_object_cloud/observation_persistence: 4.6
 * /safe_teleop_base/local_costmap/ground_object_cloud/sensor_frame: laser_tilt_link
 * /safe_teleop_base/local_costmap/ground_object_cloud/topic: /ground_object_cloud
 * /safe_teleop_base/local_costmap/height: 10.0
 * /safe_teleop_base/local_costmap/inflation_layer/inflation_radius: 0.2
 * /safe_teleop_base/local_costmap/inflation_radius: 0.2
 * /safe_teleop_base/local_costmap/map_type: voxel
 * /safe_teleop_base/local_costmap/mark_threshold: 0
 * /safe_teleop_base/local_costmap/observation_sources: base_scan_marking...
 * /safe_teleop_base/local_costmap/obstacle_layer/mark_threshold: 0
 * /safe_teleop_base/local_costmap/obstacle_layer/origin_z: 0.0
 * /safe_teleop_base/local_costmap/obstacle_layer/unknown_cost_value: 0
 * /safe_teleop_base/local_costmap/obstacle_layer/unknown_threshold: 8
 * /safe_teleop_base/local_costmap/obstacle_layer/z_resolution: 0.081
 * /safe_teleop_base/local_costmap/obstacle_layer/z_voxels: 16
 * /safe_teleop_base/local_costmap/obstacle_range: 2.5
 * /safe_teleop_base/local_costmap/origin_x: 0.0
 * /safe_teleop_base/local_costmap/origin_y: 0.0
 * /safe_teleop_base/local_costmap/origin_z: 0.0
 * /safe_teleop_base/local_costmap/publish_frequency: 2.0
 * /safe_teleop_base/local_costmap/publish_voxel_map: True
 * /safe_teleop_base/local_costmap/raytrace_range: 3.0
 * /safe_teleop_base/local_costmap/resolution: 0.025
 * /safe_teleop_base/local_costmap/robot_base_frame: base_footprint
 * /safe_teleop_base/local_costmap/rolling_window: True
 * /safe_teleop_base/local_costmap/static_map: False
 * /safe_teleop_base/local_costmap/tilt_scan/clearing: True
 * /safe_teleop_base/local_costmap/tilt_scan/data_type: LaserScan
 * /safe_teleop_base/local_costmap/tilt_scan/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/tilt_scan/marking: False
 * /safe_teleop_base/local_costmap/tilt_scan/max_obstacle_height: 40.0
 * /safe_teleop_base/local_costmap/tilt_scan/min_obstacle_height: -20.0
 * /safe_teleop_base/local_costmap/tilt_scan/observation_persistence: 0.2
 * /safe_teleop_base/local_costmap/tilt_scan/sensor_frame: laser_tilt_link
 * /safe_teleop_base/local_costmap/tilt_scan/topic: /tilt_scan
 * /safe_teleop_base/local_costmap/transform_tolerance: 0.2
 * /safe_teleop_base/local_costmap/unknown_cost_value: 0
 * /safe_teleop_base/local_costmap/unknown_threshold: 8
 * /safe_teleop_base/local_costmap/update_frequency: 5.0
 * /safe_teleop_base/local_costmap/width: 10.0
 * /safe_teleop_base/local_costmap/z_resolution: 0.081
 * /safe_teleop_base/local_costmap/z_voxels: 16
 * /shoulder_lift_gains/d: 12.0
 * /shoulder_lift_gains/i: 0.0
 * /shoulder_lift_gains/i_clamp: 0.0
 * /shoulder_lift_gains/mass: 2.0
 * /shoulder_lift_gains/p: 60.0
 * /shoulder_lift_gains/proxy/acc_converge: 1.5
 * /shoulder_lift_gains/proxy/effort_limit: 8.0
 * /shoulder_lift_gains/proxy/lambda: 3.0
 * /shoulder_lift_gains/proxy/vel_limit: 2.082
 * /shoulder_pan_gains/d: 5.0
 * /shoulder_pan_gains/i: 0.0
 * /shoulder_pan_gains/i_clamp: 0.0
 * /shoulder_pan_gains/mass: 3.3
 * /shoulder_pan_gains/p: 50.0
 * /shoulder_pan_gains/proxy/acc_converge: 1.5
 * /shoulder_pan_gains/proxy/effort_limit: 11.8
 * /shoulder_pan_gains/proxy/lambda: 3.0
 * /shoulder_pan_gains/proxy/vel_limit: 2.088
 * /tablet_marked_image_throttle/update_rate: 5
 * /tablet_receiver_default/ray_srv: /pointcloud_scree...
 * /tf2_buffer_server/buffer_size: 120.0
 * /tilt_hokuyo_node/frame_id: laser_tilt_link
 * /tilt_hokuyo_node/intensity: True
 * /tilt_hokuyo_node/max_ang: 0.829
 * /tilt_hokuyo_node/min_ang: -0.829
 * /tilt_hokuyo_node/port: /etc/ros/sensors/...
 * /tilt_hokuyo_node/skip: 1
 * /tilt_laser_self_filter/min_sensor_dist: 0.2
 * /tilt_laser_self_filter/self_see_default_padding: 0.01
 * /tilt_laser_self_filter/self_see_default_scale: 1.0
 * /tilt_laser_self_filter/self_see_links: [{'padding': 0.04...
 * /tilt_laser_self_filter/sensor_frame: laser_tilt_link
 * /tilt_shadow_filter/cloud_filter_chain: [{'type': 'pr2_na...
 * /tilt_shadow_filter/high_fidelity: True
 * /tilt_shadow_filter/scan_filter_chain: [{'type': 'ScanSh...
 * /tilt_shadow_filter/target_frame: base_footprint
 * /torso_controller/command_selector/default_select: command_dummy
 * /torso_controller/gains/torso_lift_joint/d: 1000000.0
 * /torso_controller/gains/torso_lift_joint/i: 0.0
 * /torso_controller/gains/torso_lift_joint/i_clamp: 0.0
 * /torso_controller/gains/torso_lift_joint/p: 10000000.0
 * /torso_controller/joints: ['torso_lift_joint']
 * /torso_controller/position_joint_action_node/goal_threshold: 0.01
 * /torso_controller/position_joint_action_node/joint: torso_lift_joint
 * /torso_controller/type: robot_mechanism_c...
 * /tuck_arms_action/controller_name: arm_controller
 * /upper_arm_roll_gains/d: 3.0
 * /upper_arm_roll_gains/i: 0.0
 * /upper_arm_roll_gains/i_clamp: 0.0
 * /upper_arm_roll_gains/p: 45.0
 * /use_sim_time: True
 * /vel_type_selector/default_select: /input_vel
 * /wide_stereo/wide_stereo_proc/approximate_sync: True
 * /wide_stereo/wide_stereo_proc/disparity_range: 128
 * /wrist_flex_gains/d: 0.5
 * /wrist_flex_gains/i: 0.0
 * /wrist_flex_gains/i_clamp: 0.0
 * /wrist_flex_gains/p: 13.0
 * /wrist_roll_gains/d: 0.25
 * /wrist_roll_gains/i: 0.0
 * /wrist_roll_gains/i_clamp: 0.0
 * /wrist_roll_gains/p: 6.25

NODES
  /torso_controller/
    command_mux (topic_tools/mux)
    command_selector (jsk_pr2_startup/mux_selector.py)
    position_joint_action_node (single_joint_position_action/single_joint_position_action)
  /wide_stereo/
    wide_stereo_proc (stereo_image_proc/stereo_image_proc)
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /narrow_stereo/
    narrow_stereo_proc (stereo_image_proc/stereo_image_proc)
  /l_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /base_controller/
    joint_trajectory_action (pr2_base_trajectory_action/pr2_base_trajectory_action)
  /l_arm_controller_loose/
    traj_lock (pr2_mannequin_mode/trajectory_lock.py)
  /r_forearm_cam/
    image_proc (image_proc/image_proc)
  /l_forearm_cam/
    image_proc (image_proc/image_proc)
  /r_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /head_traj_controller_loose/
    traj_lock (pr2_mannequin_mode/trajectory_lock.py)
  /
    amcl (amcl/amcl)
    base_hokuyo_node (gazebo_plugins/hokuyo_node)
    base_laser_self_filter (pr2_navigation_self_filter/self_filter)
    base_scan_marking_to_laserscan (pointcloud_to_laserscan/pointcloud_to_laserscan_node)
    base_scan_throttle (topic_tools/throttle)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    battery_visualization (jsk_pr2_startup/battery_visualization.py)
    battery_warning (roseus/roseus)
    camera_synchronizer_node (gazebo_plugins/camera_synchronizer)
    check_cable (roseus/roseus)
    cmd_vel_mux (topic_tools/mux)
    cmd_vel_selector (jsk_pr2_startup/mux_selector.py)
    default_controllers_spawner (pr2_controller_manager/spawner)
    depth_image_creator_nodelet (nodelet/nodelet)
    diag_agg (diagnostic_aggregator/aggregator_node)
    empty_cloud_publisher (jsk_pr2_startup/publish_empty_cloud.py)
    face_detector (face_detector/face_detector)
    fake_joint_calibration (rostopic/rostopic)
    finish_launch_sound (jsk_robot_startup/finish_launch_sound.py)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    ground_object_cloud_throttle (topic_tools/throttle)
    image_input_mux_throttle (jsk_topic_tools/lightweight_throttle)
    image_view2_for_tablet (image_view2/image_view2)
    initialpose3d (jsk_maps/initialpose3d.py)
    interpolate_missing_tilt_laser_data_filter (laser_filters/scan_to_scan_filter_chain)
    left_camera_info_relay (topic_tools/relay)
    left_image_raw_relay (topic_tools/relay)
    leg_detector (leg_detector/leg_detector)
    look_forward_in_navigation (roseus/roseus)
    map_server (multi_map_server/multi_map_server)
    map_server00_kokada_t440s_24995_7722668761847551031 (map_server/map_server)
    map_server01_kokada_t440s_24995_509067558297869141 (map_server/map_server)
    map_server02_kokada_t440s_24995_2436156793313808016 (map_server/map_server)
    map_server03_kokada_t440s_24995_5048706112666696630 (map_server/map_server)
    map_server04_kokada_t440s_24995_8351976962024515251 (map_server/map_server)
    map_tf00_kokada_t440s_24995_6800275190629791747 (tf/static_transform_publisher)
    map_tf01_kokada_t440s_24995_3810320837424877465 (tf/static_transform_publisher)
    map_tf02_kokada_t440s_24995_871302372545686051 (tf/static_transform_publisher)
    map_tf03_kokada_t440s_24995_7436776024385090188 (tf/static_transform_publisher)
    map_tf04_kokada_t440s_24995_7186501054029594136 (tf/static_transform_publisher)
    map_tf05_kokada_t440s_24995_4468647466384845558 (tf/static_transform_publisher)
    map_tf06_kokada_t440s_24995_6704654307079860876 (tf/static_transform_publisher)
    map_tf07_kokada_t440s_24995_3977594106084493216 (tf/static_transform_publisher)
    map_tf08_kokada_t440s_24995_5441598633155876495 (tf/static_transform_publisher)
    map_tf09_kokada_t440s_24995_2343357361756248711 (tf/static_transform_publisher)
    map_tfA_kokada_t440s_24995_1346558316652209812 (tf/static_transform_publisher)
    map_tfB_kokada_t440s_24995_5219052539333017672 (tf/static_transform_publisher)
    marked_camera_info (topic_tools/mux)
    move_base_node (move_base/move_base)
    multiple_joystick_mux (topic_tools/mux)
    mux_for_camera_info (topic_tools/mux)
    mux_for_image (topic_tools/mux)
    mux_for_points (topic_tools/mux)
    people_velocity_tracker (people_velocity_tracker/tracker.py)
    pointcloud_screenpoint_nodelet (nodelet/nodelet)
    pr2_dashboard_aggregator (pr2_dashboard_aggregator/dashboard_aggregator.py)
    pr2_left_arm_kinematics (pr2_arm_kinematics/pr2_arm_kinematics_node)
    pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
    pr2_move_base_node (pr2_move_base/pr2_move_base.py)
    pr2_right_arm_kinematics (pr2_arm_kinematics/pr2_arm_kinematics_node)
    pr2_teleop_general_joystick (pr2_teleop_general/pr2_teleop_general_joystick)
    publish_spot (roseus/roseus)
    relay_c2_depth_camera_info (topic_tools/relay)
    relay_c2_depth_points (topic_tools/relay)
    relay_c2_depth_registered_camera_info (topic_tools/relay)
    relay_c2_depth_registered_points (topic_tools/relay)
    relay_c2_rgb_camera_info (topic_tools/relay)
    relay_c2_rgb_image_raw (topic_tools/relay)
    relay_depth_camera_info (topic_tools/relay)
    relay_depth_points (topic_tools/relay)
    relay_depth_registered_camera_info (topic_tools/relay)
    relay_depth_registered_points (topic_tools/relay)
    relay_rgb_camera_info (topic_tools/relay)
    relay_rgb_image_raw (topic_tools/relay)
    right_camera_info_relay (topic_tools/relay)
    right_image_raw_relay (topic_tools/relay)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_mouse_point_to_tablet (jsk_rviz_plugins/rviz_mouse_point_to_tablet.py)
    sac_ground_removal (semantic_point_annotator/sac_inc_ground_removal_node)
    safe_teleop_base (safe_teleop_base/safe_teleop_base)
    screenpoint_manager (nodelet/nodelet)
    sound_node_jp (sound_play/soundplay_node.py)
    spawn_arm_controllers (pr2_controller_manager/spawner)
    spawn_head_controller (pr2_controller_manager/spawner)
    spawn_pr2_model (gazebo_ros/spawn_model)
    start_launch_sound (jsk_robot_startup/start_launch_sound.py)
    tablet_marked_image_throttle (jsk_topic_tools/lightweight_throttle)
    tablet_receiver_default (jsk_smart_gui/tablet_receiver.l)
    tablet_receiver_emergency (jsk_smart_gui/emergency_stop.l)
    tf2_buffer_server (tf2_ros/buffer_server)
    tf_mux (topic_tools/mux)
    tilt_hokuyo_node (gazebo_plugins/hokuyo_node)
    tilt_laser_mux (topic_tools/mux)
    tilt_laser_self_filter (pr2_navigation_self_filter/self_filter)
    tilt_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    tuck_arms_action (pr2_tuck_arms_action/tuck_arms.py)
    unsafe_vel_mux (topic_tools/mux)
    unsafe_warning (roseus/roseus)
    vel_type_selector (jsk_pr2_startup/mux_selector.py)
  /narrow_stereo_textured/
    narrow_stereo_textured_proc (stereo_image_proc/stereo_image_proc)
  /head_traj_controller/
    command_mux (topic_tools/mux)
    command_selector (jsk_pr2_startup/mux_selector.py)
    point_head_action (pr2_head_action/pr2_head_action)
  /kinect_head/
    kinect_head_nodelet_manager (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
  /tablet/marked/
    marked_image_proc (image_proc/image_proc)
  /r_arm_controller_loose/
    traj_lock (pr2_mannequin_mode/trajectory_lock.py)

WARNING: unrecognized tag sphinxdoc
auto-starting new master
process[master]: started with pid [25096]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6ab2962a-3e7a-11e5-a43e-28b2bde75e69
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[rosout-1]: started with pid [25109]
started core service [/rosout]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[gazebo-2]: started with pid [25129]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[gazebo_gui-3]: started with pid [25135]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1439113153.231533726]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1439113153.232208962]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.111.5
process[spawn_pr2_model-4]: started with pid [25194]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.111.5
spawn_model script started
[INFO] [WallTime: 1439113154.241238] [0.000000] Loading model xml from ros parameter
process[robot_state_publisher-5]: started with pid [25265]
[INFO] [WallTime: 1439113154.266065] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1439113154.272677] [0.000000] Calling service /gazebo/spawn_urdf_model
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[pr2_mechanism_diagnostics-6]: started with pid [25321]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[fake_joint_calibration-7]: started with pid [25354]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[wide_stereo/wide_stereo_proc-8]: started with pid [25372]
[ERROR] [1439113157.906376637]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[narrow_stereo/narrow_stereo_proc-9]: started with pid [25529]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113159.668730750]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ WARN] [1439113160.769778691]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1439113160.769857772]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1439113160.769889298]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1439113160.769918321]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
process[narrow_stereo_textured/narrow_stereo_textured_proc-10]: started with pid [25741]
[ERROR] [1439113161.152101871]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
Warning [Visual.cc:819] Unable to get Material[PR2/Black] for Geometry[pr2::base_footprint::base_footprint_visual_base_bellow_link. Object will appear white
[ INFO] [1439113162.625814970]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439113162.627165732]: Starting Laser Plugin (ns = /)!
process[left_image_raw_relay-11]: started with pid [25941]
[ INFO] [1439113162.692211187]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::bl_caster_rotation_link::bl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::br_caster_rotation_link::br_caster_rotation_link_visual. Object will appear white
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fl_caster_rotation_link::fl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fr_caster_rotation_link::fr_caster_rotation_link_visual. Object will appear white
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1439113163.171369602]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1439113163.171470542]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1439113163.178153693]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1439113163.178223826]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1439113163.244099874]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1439113163.263796564]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1439113163.264156006]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1439113163.272402024]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439113163.309222463]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439113163.314655859]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439113163.327691112]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439113163.331766349]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1439113163.350640841]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_upper_arm_roll_link::l_upper_arm_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_wrist_roll_link::l_wrist_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_forearm_roll_link::l_forearm_roll_link_visual. Object will appear white
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ WARN] [1439113164.008913909]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1439113164.009110027]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1439113164.009153731]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1439113164.009181696]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
process[right_image_raw_relay-12]: started with pid [26167]
[ INFO] [1439113164.768766954]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439113164.887204049]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439113164.887279254]: Starting Laser Plugin (ns = /)!
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_upper_arm_roll_link::r_upper_arm_roll_link_visual. Object will appear white
[ INFO] [1439113164.925673207]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439113164.929833139]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439113164.959449981]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_wrist_roll_link::r_wrist_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_forearm_roll_link::r_forearm_roll_link_visual. Object will appear white
[INFO] [WallTime: 1439113165.081671] [0.000000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1439113165.145918677]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Unhandled exception in thread started by 
sys.excepthook is missing
lost sys.stderr
[ INFO] [1439113165.409390637]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_pr2_model-4] process has finished cleanly
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/spawn_pr2_model-4*.log
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_wrist_roll_link::r_wrist_roll_link_visual. Object will appear white
[ INFO] [1439113165.692930985]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439113165.855287479]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_wrist_roll_link::l_wrist_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_forearm_roll_link::r_forearm_roll_link_visual. Object will appear white
Dbg plugin model name: pr2
[ INFO] [1439113165.929617789]: starting gazebo_ros_controller_manager plugin in ns: /
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1439113165.930353334]: Callback thread id=7fb4a3769700
[ INFO] [1439113165.965066776]: gazebo controller manager plugin is waiting for urdf: //robot_description on the param server.  (make sure there is a rosparam by that name in the ros parameter server, otherwise, this plugin blocks simulation forever).
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_forearm_roll_link::l_forearm_roll_link_visual. Object will appear white
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1439113166.037385177]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439113166.097825941]: gazebo controller manager got pr2.xml from param server, parsing it...
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_upper_arm_roll_link::r_upper_arm_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_upper_arm_roll_link::l_upper_arm_roll_link_visual. Object will appear white
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ WARN] [1439113166.257540080]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1439113166.257616115]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1439113166.257679178]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1439113166.257720579]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ INFO] [1439113166.290926504]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439113166.405003535]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/Black] for Geometry[pr2::base_footprint::base_footprint_visual_base_bellow_link. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::bl_caster_rotation_link::bl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::br_caster_rotation_link::br_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fl_caster_rotation_link::fl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fr_caster_rotation_link::fr_caster_rotation_link_visual. Object will appear white
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1439113166.557997871]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
process[left_camera_info_relay-13]: started with pid [26412]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113167.961524167]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
process[right_camera_info_relay-14]: started with pid [26609]
[ INFO] [1439113168.175708692]: trigger_mode trigger_mode streaming
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113168.488709325]: bayer simulation maybe computationally expensive.
[ WARN] [1439113168.488809890]: The <focal_length>[320.000105] you have provided for camera_ [wide_stereo_l_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
[ INFO] [1439113168.628023499]: bayer simulation maybe computationally expensive.
[ WARN] [1439113168.628391317]: The <focal_length>[320.000105] you have provided for camera_ [wide_stereo_r_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113168.711359988]: trigger_mode trigger_mode streaming
[ WARN] [1439113168.771191213]: The <focal_length>[320.000105] you have provided for camera_ [l_forearm_cam_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
Dbg plugin model name: pr2
[ INFO] [1439113168.982659707]: f3d plugin missing <frameName>, defaults to world
[ INFO] [1439113168.997131322]: f3d plugin missing <frameName>, defaults to world
[ INFO] [1439113169.045020400, 0.027000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1439113169.167150775, 0.081000000]: advertised as /narrow_stereo_textured/left/camera_info

[ INFO] [1439113169.173715334, 0.084000000]: advertised as /narrow_stereo_textured/left/image_raw

[ INFO] [1439113169.174807814, 0.084000000]: advertised as /narrow_stereo_textured/right/image_raw

[ INFO] [1439113169.181423269, 0.084000000]: advertised as /narrow_stereo_textured/right/camera_info

[ WARN] [1439113169.209446017, 0.092000000]: The <focal_length>[320.000105] you have provided for camera_ [r_forearm_cam_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
[ INFO] [1439113169.411475764, 0.168000000]: Physics dynamic reconfigure ready.
process[r_forearm_cam/image_proc-15]: started with pid [26809]
[ERROR] [1439113170.029706133]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[l_forearm_cam/image_proc-16]: started with pid [26937]
[ERROR] [1439113172.561000977]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[diag_agg-17]: started with pid [27044]
[ERROR] [1439113174.609615096, 2.805000000]: Skipping XML Document "/opt/ros/indigo/share/naoqi_driver_py/naoqi_analyzer_plugins.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[pr2_dashboard_aggregator-18]: started with pid [27117]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
/home/k-okada/ros/indigo/src/pr2_common/pr2_dashboard_aggregator/dashboard_aggregator.py:45: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pub = rospy.Publisher("dashboard_agg", DashboardState)
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[robot_pose_ekf-19]: started with pid [27148]
[ INFO] [1439113177.510254091]: output frame: odom_combined
[ INFO] [1439113177.510481880]: base frame: base_footprint
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[base_hokuyo_node-20]: started with pid [27215]
[ INFO] [1439113179.346000743, 5.656000000]: Initializing Imu sensor
[ INFO] [1439113179.370111241, 5.667000000]: Imu sensor activated
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tilt_hokuyo_node-21]: started with pid [27276]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tf2_buffer_server-22]: started with pid [27335]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[camera_synchronizer_node-23]: started with pid [27390]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113185.383418786]: Starting to spin camera_synchronizer at 100.000000 Hz...
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[default_controllers_spawner-24]: started with pid [27462]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[r_gripper_controller/gripper_action_node-25]: started with pid [27469]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[l_gripper_controller/gripper_action_node-26]: started with pid [27749]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[head_traj_controller/point_head_action-27]: started with pid [28255]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[torso_controller/position_joint_action_node-28]: started with pid [28558]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113191.254645809, 11.548000000]: Trajectory:: interpolation type linear
[ INFO] [1439113191.255260457, 11.549000000]: LaserScannerTrajController: Periodic Command set. Duration=1.0000 sec
[ INFO] [1439113191.358000405, 11.600000000]: Successfully spawned 
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
process[kinect_head/kinect_head_nodelet_manager-29]: started with pid [29007]
[ERROR] [1439113193.058798928]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ INFO] [1439113193.104499092]: Initializing nodelet with 4 worker threads.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[kinect_head/rectify_color-30]: started with pid [29542]
[INFO] [WallTime: 1439113195.054026] [13.354000] Loaded controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
[INFO] [WallTime: 1439113195.065953] [13.358000] Started controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
[ INFO] [1439113195.129090648, 13.381000000]: Initializing Odom sensor
[ INFO] [1439113195.188059122, 13.402000000]: Odom sensor activated
[ INFO] [1439113195.235029847, 13.422000000]: Kalman filter initialized with odom measurement
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_rgb_image_raw-31]: started with pid [29634]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_rgb_camera_info-32]: started with pid [29670]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_depth_points-33]: started with pid [29700]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_depth_camera_info-34]: started with pid [29732]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_depth_registered_points-35]: started with pid [29768]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_depth_registered_camera_info-36]: started with pid [29804]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_c2_rgb_image_raw-37]: started with pid [29833]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_c2_rgb_camera_info-38]: started with pid [29864]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_c2_depth_points-39]: started with pid [29901]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_c2_depth_camera_info-40]: started with pid [29937]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_c2_depth_registered_points-41]: started with pid [29968]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[relay_c2_depth_registered_camera_info-42]: started with pid [30002]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[start_launch_sound-43]: started with pid [30034]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_robot_common/jsk_robot_startup/util/start_launch_sound.py:8: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  p = rospy.Publisher("/robotsound", SoundRequest)
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[amcl-44]: started with pid [30060]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[spawn_arm_controllers-45]: started with pid [30285]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[spawn_head_controller-46]: started with pid [30345]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[pr2_left_arm_kinematics-47]: started with pid [30690]
[ WARN] [1439113230.033240561]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113230.174746262, 27.648000000]: pr2_arm_kinematics active
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[pr2_right_arm_kinematics-48]: started with pid [31032]
[ WARN] [1439113231.540236085]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1439113231.736181296, 28.119000000]: pr2_arm_kinematics active
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[l_arm_controller_loose/traj_lock-49]: started with pid [31320]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
/home/k-okada/ros/indigo/src/pr2_apps/pr2_mannequin_mode/scripts/trajectory_lock.py:77: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher("command", trajectory_msgs.msg.JointTrajectory)
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[r_arm_controller_loose/traj_lock-50]: started with pid [31348]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
/home/k-okada/ros/indigo/src/pr2_apps/pr2_mannequin_mode/scripts/trajectory_lock.py:77: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher("command", trajectory_msgs.msg.JointTrajectory)
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[head_traj_controller_loose/traj_lock-51]: started with pid [31371]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
/home/k-okada/ros/indigo/src/pr2_apps/pr2_mannequin_mode/scripts/trajectory_lock.py:77: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher("command", trajectory_msgs.msg.JointTrajectory)
process[tuck_arms_action-52]: started with pid [31394]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[WARN] [WallTime: 1439113238.715444] [30.203000] You've passed in true for auto_start to the python action server, you should always pass in false to avoid race conditions.
process[pr2_teleop_general_joystick-53]: started with pid [31474]
[ INFO] [1439113239.224384208, 30.342000000]: Initing general commander
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[start_launch_sound-43] process has finished cleanly
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/start_launch_sound-43*.log
[ INFO] [1439113240.925551487, 30.817000000]: Waiting for right arm kinematics servers
[ INFO] [1439113240.963377659, 30.827000000]: Waiting for left arm kinematics servers
process[head_traj_controller/command_mux-54]: started with pid [31712]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[head_traj_controller/command_selector-55]: started with pid [31754]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[torso_controller/command_mux-56]: started with pid [31779]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[torso_controller/command_selector-57]: started with pid [31817]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[base_controller/joint_trajectory_action-58]: started with pid [31846]
[ INFO] [1439113248.817187799]: joint_trajectory_action 0.305000
[ INFO] [1439113248.821638752]: joint_trajectory_action 0.305000
[ INFO] [1439113248.836022078]: joint_trajectory_action 0.505000
[ WARN] [1439113248.911070429]: You've passed in true for auto_start for the C++ action server at [/base_controller/joint_trajectory_action]. You should always pass in false to avoid race conditions.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[unsafe_vel_mux-59]: started with pid [31911]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[vel_type_selector-60]: started with pid [31954]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[INFO] [WallTime: 1439113253.883616] [34.586000] start subscribe (topic=/joy type=sensor_msgs/Joy)
[INFO] [WallTime: 1439113254.046639] [34.634000] start subscribe (topic=/navigation/cmd_vel type=geometry_msgs/Twist)
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[safe_teleop_base-61]: started with pid [31985]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[cmd_vel_mux-62]: started with pid [32263]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[cmd_vel_selector-63]: started with pid [32393]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[INFO] [WallTime: 1439113259.870981] [36.230000] start subscribe (topic=/joy type=sensor_msgs/Joy)
[INFO] [WallTime: 1439113260.026260] [36.268000] /input_vel is not published yet
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[check_cable-64]: started with pid [32420]
configuring by "/home/k-okada/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x5ae0300[16374] --> 0x5f43130[32748] top=37b8
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
irtgl irtviewer 
EusLisp 9.12(bb29754 1.0.2) for Linux64 created on kokada-t440s(Thu May 14 16:54:25 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 kokada-t440s Thu May 14 16:54:25 JST 2015 bb29754 1.0.2))
eustf roseus_c_util WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[unsafe_warning-65]: started with pid [32459]
configuring by "/home/k-okada/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x5220300[16374] --> 0x5683130[32748] top=37b8
irtgl irtviewer 
EusLisp 9.12(bb29754 1.0.2) for Linux64 created on kokada-t440s(Thu May 14 16:54:25 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 kokada-t440s Thu May 14 16:54:25 JST 2015 bb29754 1.0.2))
eustf roseus_c_util WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[base_scan_throttle-66]: started with pid [32485]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
advertised as base_scan_throttled
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tilt_shadow_filter-67]: started with pid [32512]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[interpolate_missing_tilt_laser_data_filter-68]: started with pid [32596]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113271.535227737, 39.217000000]: Lookup would require extrapolation into the past.  Requested time 38.963000000 but the earliest data is at time 39.100000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tilt_laser_self_filter-69]: started with pid [32640]
[ERROR] [1439113272.431258559, 39.421000000]: Lookup would require extrapolation into the past.  Requested time 39.013000000 but the earliest data is at time 39.100000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113272.845259993, 39.510000000]: Self see link name l_upper_arm_link padding 0.04
[ INFO] [1439113273.084525559, 39.562000000]: Self see link name l_upper_arm_roll_link padding 0.01
[ INFO] [1439113273.299676604, 39.611000000]: Self see link name l_upper_arm_link padding 0.01
[ERROR] [1439113273.358272151, 39.622000000]: Lookup would require extrapolation into the past.  Requested time 39.065000000 but the earliest data is at time 39.100000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ INFO] [1439113273.449952875, 39.635000000]: Self see link name l_upper_arm_roll_link padding 0.01
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113273.570326438, 39.653000000]: Self see link name l_elbow_flex_link padding 0.01
[ INFO] [1439113273.721116822, 39.676000000]: Self see link name l_forearm_link padding 0.04
[ INFO] [1439113273.966623162, 39.739000000]: Self see link name l_forearm_roll_link padding 0.04
[ INFO] [1439113274.228652278, 39.796000000]: Self see link name l_wrist_flex_link padding 0.01
[ INFO] [1439113274.400808501, 39.825000000]: Self see link name l_wrist_roll_link padding 0.01
[ INFO] [1439113274.583990274, 39.859000000]: Self see link name l_gripper_palm_link padding 0.04
[ INFO] [1439113274.766479429, 39.889000000]: Self see link name l_gripper_l_finger_link padding 0.04
[ INFO] [1439113274.901447555, 39.919000000]: Self see link name l_gripper_l_finger_tip_link padding 0.01
[ INFO] [1439113275.055136824, 39.943000000]: Self see link name l_gripper_r_finger_link padding 0.04
process[base_shadow_filter-70]: started with pid [32694]
[ INFO] [1439113275.222419069, 39.972000000]: Self see link name l_gripper_r_finger_tip_link padding 0.01
[ INFO] [1439113275.527091567, 40.036000000]: Self see link name l_shoulder_pan_link padding 0.1
[ INFO] [1439113275.747674298, 40.070000000]: Self see link name l_shoulder_lift_link padding 0.1
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113275.922387383, 40.100000000]: Self see link name r_upper_arm_link padding 0.04
[ INFO] [1439113276.085342086, 40.127000000]: Self see link name r_upper_arm_roll_link padding 0.01
[ INFO] [1439113276.310159428, 40.164000000]: Self see link name r_elbow_flex_link padding 0.01
[ INFO] [1439113276.504626352, 40.193000000]: Self see link name r_forearm_link padding 0.04
[ INFO] [1439113276.801728816, 40.339000000]: Self see link name r_forearm_roll_link padding 0.04
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113277.115412708, 40.462000000]: Self see link name r_wrist_flex_link padding 0.01
[ INFO] [1439113277.394616086, 40.537000000]: Self see link name r_wrist_roll_link padding 0.01
process[base_laser_self_filter-71]: started with pid [301]
[ INFO] [1439113277.683578521, 40.612000000]: Self see link name r_gripper_palm_link padding 0.04
[ INFO] [1439113277.891885212, 40.670000000]: Self see link name r_gripper_l_finger_link padding 0.04
[ INFO] [1439113278.125110772, 40.735000000]: Self see link name r_gripper_l_finger_tip_link padding 0.01
[ERROR] [1439113278.250325308, 40.765000000]: Lookup would require extrapolation into the past.  Requested time 40.561000000 but the earliest data is at time 40.700000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ INFO] [1439113278.333499950, 40.783000000]: Self see link name r_gripper_r_finger_link padding 0.04
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113278.558426509, 40.827000000]: Self see link name l_upper_arm_link padding 0.04
[ INFO] [1439113278.670562718, 40.849000000]: Self see link name r_gripper_r_finger_tip_link padding 0.01
[ INFO] [1439113278.777559148, 40.869000000]: Self see link name l_upper_arm_roll_link padding 0.01
[ INFO] [1439113278.963834244, 40.919000000]: Self see link name r_shoulder_pan_link padding 0.1
[ERROR] [1439113279.156230559, 40.966000000]: Lookup would require extrapolation into the past.  Requested time 40.611000000 but the earliest data is at time 40.700000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ INFO] [1439113279.186112806, 40.973000000]: Self see link name l_upper_arm_link padding 0.01
[ INFO] [1439113279.218862088, 40.974000000]: Self see link name r_shoulder_lift_link padding 0.1
[ INFO] [1439113279.346780715, 40.993000000]: Self see link name l_upper_arm_roll_link padding 0.01
[ INFO] [1439113279.400201736, 40.998000000]: Self see link name base_link padding 0.01
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113279.557341173, 41.029000000]: Self see link name l_elbow_flex_link padding 0.01
[ INFO] [1439113279.830783238, 41.096000000]: Self see link name l_forearm_link padding 0.04
[ INFO] [1439113280.020300222, 41.144000000]: Self see link name l_forearm_roll_link padding 0.04
[ WARN] [1439113280.022636145, 41.144000000]: No collision geometry specified for link 'l_forearm_cam_frame'
[ERROR] [1439113280.123359389, 41.169000000]: Lookup would require extrapolation into the past.  Requested time 40.661000000 but the earliest data is at time 40.700000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ INFO] [1439113280.192986090, 41.180000000]: Self see link name l_wrist_flex_link padding 0.01
[ INFO] [1439113280.392485413, 41.249000000]: Self see link name l_wrist_roll_link padding 0.01
[ INFO] [1439113280.560178776, 41.320000000]: Self see link name l_gripper_palm_link padding 0.01
[ INFO] [1439113280.760619616, 41.381000000]: Self see link name l_gripper_l_finger_link padding 0.01
[ INFO] [1439113280.982426779, 41.441000000]: Self see link name l_gripper_l_finger_tip_link padding 0.01
[ INFO] [1439113281.214762965, 41.497000000]: Self see link name l_gripper_r_finger_link padding 0.01
[ INFO] [1439113281.426272030, 41.559000000]: Self see link name l_gripper_r_finger_tip_link padding 0.01
[ INFO] [1439113281.596007792, 41.582000000]: Self see link name l_shoulder_pan_link padding 0.01
process[base_scan_marking_to_laserscan-72]: started with pid [356]
[ INFO] [1439113281.753266673, 41.610000000]: Self see link name l_shoulder_lift_link padding 0.01
[ INFO] [1439113281.980550994, 41.654000000]: Self see link name r_upper_arm_link padding 0.04
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113282.252334252, 41.710000000]: Self see link name r_upper_arm_roll_link padding 0.01
[ERROR] [1439113282.274657633, 41.712000000]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ INFO] [1439113282.291744884, 41.714000000]: Initializing nodelet with 4 worker threads.
[ INFO] [1439113282.516327590, 41.752000000]: Self see link name r_elbow_flex_link padding 0.01
[ INFO] [1439113282.695707816, 41.782000000]: Self see link name r_forearm_link padding 0.04
[ INFO] [1439113282.905868015, 41.831000000]: Self see link name r_forearm_roll_link padding 0.04
[ WARN] [1439113282.913166402, 41.833000000]: No collision geometry specified for link 'r_forearm_cam_frame'
[ INFO] [1439113283.104322316, 41.875000000]: Self see link name r_wrist_flex_link padding 0.01
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113283.288479025, 41.913000000]: Self see link name r_wrist_roll_link padding 0.01
[ INFO] [1439113283.457536868, 41.952000000]: Self see link name r_gripper_palm_link padding 0.04
[ INFO] [1439113283.599736936, 41.977000000]: Self see link name r_gripper_l_finger_link padding 0.04
[ INFO] [1439113283.747313057, 42.002000000]: Self see link name r_gripper_l_finger_tip_link padding 0.04
[ INFO] [1439113283.912183400, 42.042000000]: Self see link name r_gripper_r_finger_link padding 0.04
[ INFO] [1439113284.036228516, 42.060000000]: Self see link name r_gripper_r_finger_tip_link padding 0.04
[ INFO] [1439113284.238356542, 42.128000000]: Self see link name r_shoulder_pan_link padding 0.01
[ INFO] [1439113284.439792875, 42.179000000]: Self see link name r_shoulder_lift_link padding 0.01
process[ground_object_cloud_throttle-73]: started with pid [416]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[sac_ground_removal-74]: started with pid [444]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113287.806124092, 42.985000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439113288.044012113, 43.040000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439113288.268515966, 43.083000000]: Can't transform viewpoint for ground plan detection
process[pr2_move_base_node-75]: started with pid [511]
[ERROR] [1439113288.610876065, 43.199000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439113288.768651921, 43.258000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439113288.926089503, 43.324000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439113289.025079356, 43.365000000]: Can't transform viewpoint for ground plan detection
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[move_base_node/local_costmap/voxel_grid_throttle-76]: started with pid [541]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[move_base_node-77]: started with pid [571]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tilt_laser_mux-78]: started with pid [646]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[empty_cloud_publisher-79]: started with pid [683]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[look_forward_in_navigation-80]: started with pid [687]
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/publish_empty_cloud.py:11: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('empty_cloud', PointCloud2)
configuring by "/home/k-okada/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x5e64300[16374] --> 0x62c7130[32748] top=37b8
irtgl irtviewer 
EusLisp 9.12(bb29754 1.0.2) for Linux64 created on kokada-t440s(Thu May 14 16:54:25 JST 2015)
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 kokada-t440s Thu May 14 16:54:25 JST 2015 bb29754 1.0.2))
eustf roseus_c_util WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_tfA_kokada_t440s_24995_1346558316652209812-81]: started with pid [710]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_server00_kokada_t440s_24995_7722668761847551031-82]: started with pid [730]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_server01_kokada_t440s_24995_509067558297869141-83]: started with pid [769]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_server02_kokada_t440s_24995_2436156793313808016-84]: started with pid [1062]
;; #<linear-joint #X93d1500 torso_lift_joint> :joint-angle(11.4979) violate min-angle(11.5)
;; #<rotational-joint #X91081d0 head_tilt_joint> :joint-angle(-21.5823) violate min-angle(-21.2682)
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_server03_kokada_t440s_24995_5048706112666696630-85]: started with pid [1087]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_server04_kokada_t440s_24995_8351976962024515251-86]: started with pid [1109]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_server-87]: started with pid [1131]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_tf00_kokada_t440s_24995_6800275190629791747-88]: started with pid [1289]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_tf01_kokada_t440s_24995_3810320837424877465-89]: started with pid [1601]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_tf02_kokada_t440s_24995_871302372545686051-90]: started with pid [1834]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[WARN] [WallTime: 1439113337.801846] [54.366000] You've passed in true for auto_start to the python action server, you should always pass in false to avoid race conditions.
[ INFO] [1439113337.933350694, 54.413000000]: LaserScannerTrajControllerNode: set traj command
[ INFO] [1439113337.933748415, 54.413000000]: Trajectory:: interpolation type blended_linear
[ INFO] [1439113337.934862077, 54.413000000]: LaserScannerTrajController: Trajectory Command set. Duration=2.3125 sec
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[tilt_shadow_filter-67] process has died [pid 32512, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [1980]
process[map_tf03_kokada_t440s_24995_7436776024385090188-91]: started with pid [2060]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[tilt_shadow_filter-67] process has died [pid 1980, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [2092]
process[map_tf04_kokada_t440s_24995_7186501054029594136-92]: started with pid [2182]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113345.766848151, 56.174000000]: Lookup would require extrapolation into the past.  Requested time 55.911000000 but the earliest data is at time 56.083000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113346.609551978, 56.390000000]: Lookup would require extrapolation into the past.  Requested time 55.975000000 but the earliest data is at time 56.083000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113347.500199180, 56.594000000]: Lookup would require extrapolation into the past.  Requested time 56.011000000 but the earliest data is at time 56.083000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[map_tf05_kokada_t440s_24995_4468647466384845558-93]: started with pid [2206]
[ERROR] [1439113348.256544891, 56.796000000]: Lookup would require extrapolation into the past.  Requested time 56.061000000 but the earliest data is at time 56.083000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 2092, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [2227]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_tf06_kokada_t440s_24995_6704654307079860876-94]: started with pid [2346]
[tilt_shadow_filter-67] process has died [pid 2227, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [2366]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_tf07_kokada_t440s_24995_3977594106084493216-95]: started with pid [2506]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113356.406953141, 58.422000000]: Lookup would require extrapolation into the past.  Requested time 58.161000000 but the earliest data is at time 58.360000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113357.512090058, 58.626000000]: Lookup would require extrapolation into the past.  Requested time 58.211000000 but the earliest data is at time 58.360000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113358.589389564, 58.828000000]: Lookup would require extrapolation into the past.  Requested time 58.263000000 but the earliest data is at time 58.360000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[map_tf08_kokada_t440s_24995_5441598633155876495-96]: started with pid [2531]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113359.578310561, 59.030000000]: Lookup would require extrapolation into the past.  Requested time 58.314000000 but the earliest data is at time 58.360000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 2366, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [2562]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[map_tf09_kokada_t440s_24995_2343357361756248711-97]: started with pid [2690]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[tilt_shadow_filter-67] process has died [pid 2562, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [2739]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tf_mux-98]: started with pid [2832]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113367.960813936, 60.759000000]: Lookup would require extrapolation into the past.  Requested time 60.512000000 but the earliest data is at time 60.600000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113368.860814974, 60.959000000]: Lookup would require extrapolation into the past.  Requested time 60.561000000 but the earliest data is at time 60.600000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[map_tfB_kokada_t440s_24995_5219052539333017672-99]: started with pid [2893]
[tilt_shadow_filter-67] process has died [pid 2739, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [2910]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[initialpose3d-100]: started with pid [3004]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[tilt_shadow_filter-67] process has died [pid 2910, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [3011]
process[publish_spot-101]: started with pid [3042]
configuring by "/home/k-okada/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble /home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_demos/jsk_maps/tools/initialpose3d.py:55: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('initialpose_out', PoseWithCovarianceStamped)
irtmath irtutil irtc irtgeoc irtgraph /home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_demos/jsk_maps/tools/initialpose3d.py:57: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  map_select = rospy.Publisher('map_reload', String)
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x5191300[16374] --> 0x55f4130[32748] top=37b8
irtgl irtviewer 
EusLisp 9.12(bb29754 1.0.2) for Linux64 created on kokada-t440s(Thu May 14 16:54:25 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 kokada-t440s Thu May 14 16:54:25 JST 2015 bb29754 1.0.2))
[ INFO] [1439113376.532550074]: install ros::roseus-sigint-handler
eustf roseus_c_util WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113379.522624631, 62.756000000]: Lookup would require extrapolation into the past.  Requested time 62.512000000 but the earliest data is at time 62.720000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113380.459555023, 62.966000000]: Lookup would require extrapolation into the past.  Requested time 62.562000000 but the earliest data is at time 62.720000000, when looking up transform from frame [base_footprint] to frame [base_link]
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
process[sound_node_jp-102]: started with pid [3166]
[ERROR] [1439113381.708420779, 63.182000000]: Lookup would require extrapolation into the past.  Requested time 62.615000000 but the earliest data is at time 62.720000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
/opt/ros/indigo/lib/sound_play/soundplay_node.py:302: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.diagnostic_pub = rospy.Publisher("/diagnostics", DiagnosticArray)
Color name not found Color name not found WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113383.196931209, 63.386000000]: Lookup would require extrapolation into the past.  Requested time 62.662000000 but the earliest data is at time 62.720000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[battery_warning-103]: started with pid [3195]
Color name not found Color name not found configuring by "/home/k-okada/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus transparent: body #<scene-model #X6e32db8 71a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e52250 71b  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e5c280 71c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e7fbd0 72a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e943c8 72b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6ea1410 72b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6eb6e38 72d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<body #Xa1c6820 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #Xa211520 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #Xa2051c0 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #Xa22a2e0 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #Xa21f4e0 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #Xa2446c0 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #Xa238888 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #Xa25d408 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin [ERROR] [1439113384.616244327, 63.586000000]: Lookup would require extrapolation into the past.  Requested time 62.712000000 but the earliest data is at time 62.720000000, when looking up transform from frame [base_footprint] to frame [base_link]

connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx [tilt_shadow_filter-67] process has died [pid 3011, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x47fb300[16374] --> 0x4c5e130[32748] top=37b8
process[tilt_shadow_filter-67]: started with pid [3201]
irtgl irtviewer 
EusLisp 9.12(bb29754 1.0.2) for Linux64 created on kokada-t440s(Thu May 14 16:54:25 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 kokada-t440s Thu May 14 16:54:25 JST 2015 bb29754 1.0.2))
eustf roseus_c_util WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
transparent: body #<scene-model #X6e76200 81a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X702a008 81b2  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X7111cd8 81c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X739d338 82a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X75c6570 82b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X7628cf0 82b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X77aa4e0 82d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X7e8e508 83a1  -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink
transparent: body #<scene-model #X7e55538 83a2  -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink
transparent: body #<scene-model #X7e291e0 83a3  -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen
transparent: body #<scene-model #X7dd4748 83a4  -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<room83b1-scene #X7dc65b8 83b1  1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet
transparent: body #<scene-model #Xa2d1a38 83b2  1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xa3080a0 83d1  36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
[ERROR] [1439113386.051366182, 63.722000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ERROR] [1439113386.053630033, 63.723000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ERROR] [1439113386.055675357, 63.723000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ERROR] [1439113386.057535794, 63.723000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
process[battery_visualization-104]: started with pid [3343]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:16: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub0 = rospy.Publisher("/visualization/battery/value0", Float32)
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:17: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub1 = rospy.Publisher("/visualization/battery/value1", Float32)
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:18: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub2 = rospy.Publisher("/visualization/battery/value2", Float32)
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:19: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub3 = rospy.Publisher("/visualization/battery/value3", Float32)
[tilt_shadow_filter-67] process has died [pid 3201, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [3468]
process[screenpoint_manager-105]: started with pid [3501]
[ERROR] [1439113390.583190610]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ INFO] [1439113390.672378309]: Initializing nodelet with 4 worker threads.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113394.043433283, 65.168000000]: Lookup would require extrapolation into the past.  Requested time 64.919000000 but the earliest data is at time 65.120000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[depth_image_creator_nodelet-106]: started with pid [3598]
[ INFO] [1439113394.719547853]: Loading nodelet /depth_image_creator_nodelet of type jsk_pcl/DepthImageCreator to manager screenpoint_manager with the following remappings:
[ INFO] [1439113394.719886673]: /depth_image_creator_nodelet/info -> /camera_info_input_mux
[ INFO] [1439113394.720150119]: /depth_image_creator_nodelet/input -> /points_input_mux
[ INFO] [1439113394.720317417]: /depth_image_creator_nodelet/output_cloud -> /screenpoint_manager/points
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113395.316706044, 65.369000000]: Lookup would require extrapolation into the past.  Requested time 64.962000000 but the earliest data is at time 65.120000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113396.072169034, 65.522000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] [/depth_image_creator_nodelet::onInit]
[ INFO] [1439113396.089304052, 65.523000000]: [static tf::TransformListener* jsk_pcl_ros::TfListenerSingleton::getInstance()] instantiating tf::TransformListener
[ INFO] [1439113396.325886439, 65.558000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] scale_depth : 5.000000
[ INFO] [1439113396.333792883, 65.558000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_fixed_transform : 0
[ INFO] [1439113396.349908409, 65.565000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_service : 0
[ INFO] [1439113396.355396236, 65.566000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_asynchronous : 0
[ INFO] [1439113396.358131532, 65.566000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_approximate : 1
[ERROR] [1439113396.437938917, 65.578000000]: Lookup would require extrapolation into the past.  Requested time 65.012000000 but the earliest data is at time 65.120000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113397.420487100, 65.782000000]: Lookup would require extrapolation into the past.  Requested time 65.063000000 but the earliest data is at time 65.120000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113398.642063609, 65.993000000]: Lookup would require extrapolation into the past.  Requested time 65.112000000 but the earliest data is at time 65.120000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[pointcloud_screenpoint_nodelet-107]: started with pid [3691]
[ INFO] [1439113398.814378970]: Loading nodelet /pointcloud_screenpoint_nodelet of type jsk_pcl/PointcloudScreenpoint to manager screenpoint_manager with the following remappings:
[ INFO] [1439113398.814822643]: /pointcloud_screenpoint_nodelet/points -> /screenpoint_manager/points
[tilt_shadow_filter-67] process has died [pid 3468, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [3749]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[mux_for_image-108]: started with pid [3895]
[tilt_shadow_filter-67] process has died [pid 3749, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [3939]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ INFO] [1439113404.155798903, 66.891000000]: advertising
[ INFO] [1439113404.217099910, 66.901000000]: Unregistering from /wide_stereo/right/image_color
[ INFO] [1439113404.250905582, 66.911000000]: Unregistering from /wide_stereo/left/image_color
[ INFO] [1439113404.304501584, 66.912000000]: Unregistering from /narrow_stereo/right/image_mono
[ INFO] [1439113404.342201512, 66.915000000]: Unregistering from /narrow_stereo/left/image_mono
[ INFO] [1439113404.372280839, 66.917000000]: Unregistering from /r_forearm_cam/image_mono
[ INFO] [1439113404.407260103, 66.919000000]: Unregistering from /l_forearm_cam/image_mono
[ INFO] [1439113404.424038038, 66.920000000]: Unregistering from /camera/image
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[mux_for_camera_info-109]: started with pid [4142]
[ INFO] [1439113408.101736182, 67.542000000]: advertising
[ INFO] [1439113408.142246386, 67.546000000]: Unregistering from /wide_stereo/right/camera_info
[ INFO] [1439113408.144920709, 67.546000000]: Unregistering from /wide_stereo/left/camera_info
[ INFO] [1439113408.148587137, 67.547000000]: Unregistering from /narrow_stereo/right/camera_info
[ INFO] [1439113408.149943998, 67.547000000]: Unregistering from /narrow_stereo/left/camera_info
[ INFO] [1439113408.164659263, 67.550000000]: Unregistering from /r_forearm_cam/camera_info
[ INFO] [1439113408.182778434, 67.553000000]: Unregistering from /l_forearm_cam/camera_info
[ INFO] [1439113408.205665362, 67.555000000]: Unregistering from /camera/camera_info
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113408.793644693, 67.666000000]: Lookup would require extrapolation into the past.  Requested time 67.412000000 but the earliest data is at time 67.642000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113409.710753841, 67.870000000]: Lookup would require extrapolation into the past.  Requested time 67.465000000 but the earliest data is at time 67.642000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113410.391054010, 68.075000000]: Lookup would require extrapolation into the past.  Requested time 67.512000000 but the earliest data is at time 67.642000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113411.205387123, 68.283000000]: Lookup would require extrapolation into the past.  Requested time 67.568000000 but the earliest data is at time 67.642000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[mux_for_points-110]: started with pid [4223]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113412.155458591, 68.486000000]: Lookup would require extrapolation into the past.  Requested time 67.613000000 but the earliest data is at time 67.642000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[tilt_shadow_filter-67] process has died [pid 3939, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [4268]
process[tablet_receiver_default-111]: started with pid [4299]
configuring by "/home/k-okada/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x64f2300[16374] --> 0x6955130[32748] top=37b8
irtgl irtviewer 
EusLisp 9.12(bb29754 1.0.2) for Linux64 created on kokada-t440s(Thu May 14 16:54:25 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 kokada-t440s Thu May 14 16:54:25 JST 2015 bb29754 1.0.2))
[ INFO] [1439113414.406220472]: install ros::roseus-sigint-handler
eustf WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.roseus_c_util 
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tablet_receiver_emergency-112]: started with pid [4355]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
configuring by "/home/k-okada/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus [tilt_shadow_filter-67] process has died [pid 4268, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log;; Xevent 
[tilt_shadow_filter-67] restarting process
;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin process[tilt_shadow_filter-67]: started with pid [4361]

connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x6149300[16374] --> 0x65ac130[32748] top=37b8
irtgl irtviewer 
EusLisp 9.12(bb29754 1.0.2) for Linux64 created on kokada-t440s(Thu May 14 16:54:25 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 kokada-t440s Thu May 14 16:54:25 JST 2015 bb29754 1.0.2))
[ INFO] [1439113418.277705996]: install ros::roseus-sigint-handler
eustf roseus_c_util WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.

;; extending gcstack 0x6955130[32738] --> 0x74cc7b0[65476] top=7f61
process[image_input_mux_throttle-113]: started with pid [4465]
[ERROR] [1439113421.406593038]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ WARN] [1439113423.118136971, 69.883000000]: ROSEUS is already installed as /tablet_receiver_default
process[image_view2_for_tablet-114]: started with pid [4502]

;; extending gcstack 0x65ac130[32738] --> 0x71237b0[65476] top=7f61
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113425.246113800, 70.060000000]: Lookup would require extrapolation into the past.  Requested time 69.814000000 but the earliest data is at time 69.961000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113426.519355330, 70.266000000]: Lookup would require extrapolation into the past.  Requested time 69.864000000 but the earliest data is at time 69.961000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113428.354545328, 70.471000000]: Lookup would require extrapolation into the past.  Requested time 69.912000000 but the earliest data is at time 69.961000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[marked_camera_info-115]: started with pid [4615]
[tilt_shadow_filter-67] process has died [pid 4361, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [4636]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[tilt_shadow_filter-67] process has died [pid 4636, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [4810]
process[tablet/marked/marked_image_proc-116]: started with pid [4871]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113436.650481601, 71.581000000]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[tablet_marked_image_throttle-117]: started with pid [4968]
[ERROR] [1439113440.393323368, 72.070000000]: Lookup would require extrapolation into the past.  Requested time 71.818000000 but the earliest data is at time 72.040000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113440.865357444]: Skipping XML Document "/opt/ros/indigo/share/naoqi_sensors_py/naoqicamera_nodelet.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[ERROR] [1439113442.188354535, 72.279000000]: Lookup would require extrapolation into the past.  Requested time 71.862000000 but the earliest data is at time 72.040000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[rviz_mouse_point_to_tablet-118]: started with pid [5057]
[ERROR] [1439113443.714774229, 72.482000000]: Lookup would require extrapolation into the past.  Requested time 71.912000000 but the earliest data is at time 72.040000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113445.934915248, 72.685000000]: Lookup would require extrapolation into the past.  Requested time 71.962000000 but the earliest data is at time 72.040000000, when looking up transform from frame [base_footprint] to frame [base_link]
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_visualization/jsk_rviz_plugins/scripts/rviz_mouse_point_to_tablet.py:41: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher("/Tablet/Command", Tablet)
[ WARN] [1439113446.610203671, 72.759000000]: /use_sim_time is TRUE, check if /clock is pusblished or not
[ERROR] [1439113447.693466024, 72.887000000]: Lookup would require extrapolation into the past.  Requested time 72.012000000 but the earliest data is at time 72.040000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 4810, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [5254]
process[multiple_joystick_mux-119]: started with pid [5265]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113450.329397520, 73.198000000]: Costmap2DConfig::__fromMessage__ called with an unexpected parameter.
[ERROR] [1439113450.330107159, 73.198000000]: Booleans:
[ERROR] [1439113450.330491419, 73.198000000]: Integers:
[ERROR] [1439113450.330670016, 73.198000000]: Doubles:
[ERROR] [1439113450.331199101, 73.198000000]:   inflation_radius
[ERROR] [1439113450.331371596, 73.198000000]: Strings:
[ WARN] [1439113450.382613895, 73.205000000]: /use_sim_time is TRUE, check if /clock is pusblished or not
[ INFO] [1439113450.894083236, 73.311000000]: get_spot:: the robot is in /eng2 now
process[face_detector-120]: started with pid [5628]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
[tilt_shadow_filter-67] process has died [pid 5254, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [5709]
[ INFO] [1439113453.581053772, 73.659000000]: Constructing FaceDetector.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113454.057466696, 73.724000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ERROR] [1439113454.583123871, 73.774000000]: Cascade file /opt/ros/indigo/share/ros/../OpenCV/haarcascades/haarcascade_frontalface_alt.xml doesn't exist.
[ INFO] [1439113454.642521759, 73.779000000]: You must subscribe to one of FaceDetector's outbound topics or else it will not publish anything.
[ INFO] [1439113454.767890018, 73.789000000]: begin tablet emergency-controller
;; #<linear-joint #X8c32d90 torso_lift_joint> :joint-angle(11.4979) violate min-angle(11.5)
;; #<rotational-joint #X8abcb30 head_tilt_joint> :joint-angle(-21.5823) violate min-angle(-21.2682)
process[leg_detector-121]: started with pid [5932]
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ INFO] [1439113458.297724564, 74.241000000]: Got a subscriber to scan, starting subscriber to pointcloud
Color name not found Color name not found process[people_velocity_tracker-122]: started with pid [6039]
[ERROR] [1439113460.534738264, 74.505000000]: Lookup would require extrapolation into the past.  Requested time 74.264000000 but the earliest data is at time 74.404000000, when looking up transform from frame [base_footprint] to frame [base_link]
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
Color name not found Color name not found WARNING: Metapackage "jsk_roseus" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
[ERROR] [1439113462.408662168, 74.710000000]: Lookup would require extrapolation into the past.  Requested time 74.312000000 but the earliest data is at time 74.404000000, when looking up transform from frame [base_footprint] to frame [base_link]
process[finish_launch_sound-123]: started with pid [6049]
transparent: body #<scene-model #X8fa9a40 71a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X957cf30 71b  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X96040f8 71c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X9860868 72a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X98d3cb0 72b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X99143c0 72b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X9932670 72d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<body #X8dd6e68 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X8e10828 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X8e2f738 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X8e76740 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X8e87368 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X8e92638 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X8eb1290 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X8eb0318 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
[ERROR] [1439113463.516125412, 74.921000000]: Lookup would require extrapolation into the past.  Requested time 74.362000000 but the earliest data is at time 74.404000000, when looking up transform from frame [base_footprint] to frame [base_link]
/opt/ros/indigo/lib/people_velocity_tracker/tracker.py:90: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.mpub = rospy.Publisher('/visualization_marker', Marker)
/opt/ros/indigo/lib/people_velocity_tracker/tracker.py:91: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.ppub = rospy.Publisher('/people', People)
/home/k-okada/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_robot_common/jsk_robot_startup/util/finish_launch_sound.py:8: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  p = rospy.Publisher("/robotsound", SoundRequest)
[tilt_shadow_filter-67] process has died [pid 5709, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
transparent: body #<scene-model #X96ca028 81a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xac9a200 81b2  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xb138f98 81c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xc12e928 82a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xc422fc8 82b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xc47bc60 82b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xc7d6580 82d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xc89bd18 83a1  -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink
transparent: body #<scene-model #Xca5e538 83a2  -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink
transparent: body #<scene-model #Xca7d238 83a3  -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen
transparent: body #<scene-model #Xca75ab0 83a4  -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<room83b1-scene #Xca74688 83b1  1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet
transparent: body #<scene-model #Xe614a30 83b2  1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #Xe849cf8 83d1  36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
process[tilt_shadow_filter-67]: started with pid [6092]
[ INFO] [1439113465.127964446, 75.163000000]: tablet_receiver:: creating jsk_spots.yaml for tablet
(("eng2") ("8f" "7f" "3f" "2f" "1f"))
[ INFO] [1439113465.408086223, 75.214000000]: begin tablet controller
;; #<linear-joint #X90223b0 torso_lift_joint> :joint-angle(11.4979) violate min-angle(11.5)
;; #<rotational-joint #X8e89600 head_tilt_joint> :joint-angle(-21.5823) violate min-angle(-21.2682)
[ INFO] [1439113467.227716360, 75.614000000]: Get CameraInfo: head_mount_kinect_rgb_optical_frame
[tilt_shadow_filter-67] process has died [pid 6092, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6240]
[ERROR] [1439113471.494651895, 76.680000000]: Lookup would require extrapolation into the past.  Requested time 76.413000000 but the earliest data is at time 76.581000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113472.405922588, 76.885000000]: Lookup would require extrapolation into the past.  Requested time 76.463000000 but the earliest data is at time 76.581000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113473.167512700, 77.087000000]: Lookup would require extrapolation into the past.  Requested time 76.513000000 but the earliest data is at time 76.581000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113473.993253570, 77.298000000]: Lookup would require extrapolation into the past.  Requested time 76.563000000 but the earliest data is at time 76.581000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 6240, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6334]
[tilt_shadow_filter-67] process has died [pid 6334, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6423]
[ERROR] [1439113481.267557113, 79.018000000]: Lookup would require extrapolation into the past.  Requested time 78.764000000 but the earliest data is at time 78.971000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113482.137911766, 79.222000000]: Lookup would require extrapolation into the past.  Requested time 78.813000000 but the earliest data is at time 78.971000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113483.085298124, 79.428000000]: Lookup would require extrapolation into the past.  Requested time 78.864000000 but the earliest data is at time 78.971000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113484.102509029, 79.638000000]: Lookup would require extrapolation into the past.  Requested time 78.915000000 but the earliest data is at time 78.971000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113485.033979660, 79.841000000]: Lookup would require extrapolation into the past.  Requested time 78.967000000 but the earliest data is at time 78.971000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 6423, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6518]
[finish_launch_sound-123] process has finished cleanly
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/finish_launch_sound-123*.log
[tilt_shadow_filter-67] process has died [pid 6518, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6612]
[ERROR] [1439113493.320081068, 81.618000000]: Lookup would require extrapolation into the past.  Requested time 81.368000000 but the earliest data is at time 81.461000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113494.221122739, 81.829000000]: Lookup would require extrapolation into the past.  Requested time 81.417000000 but the earliest data is at time 81.461000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 6612, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6699]
[tilt_shadow_filter-67] process has died [pid 6699, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6792]
[ERROR] [1439113502.880246389, 83.530000000]: Lookup would require extrapolation into the past.  Requested time 83.269000000 but the earliest data is at time 83.441000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ INFO] [1439113503.787095813, 83.725000000]: current-map /eng2/7f/ #<cascaded-coords #Xa679240 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ERROR] [1439113503.826049782, 83.732000000]: Lookup would require extrapolation into the past.  Requested time 83.318000000 but the earliest data is at time 83.441000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113504.763156434, 83.939000000]: Lookup would require extrapolation into the past.  Requested time 83.363000000 but the earliest data is at time 83.441000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113505.623467330, 84.143000000]: Lookup would require extrapolation into the past.  Requested time 83.415000000 but the earliest data is at time 83.441000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 6792, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6896]
[tilt_shadow_filter-67] process has died [pid 6896, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [6991]
[ERROR] [1439113514.058933659, 85.925000000]: Lookup would require extrapolation into the past.  Requested time 85.663000000 but the earliest data is at time 85.820000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113515.010177387, 86.132000000]: Lookup would require extrapolation into the past.  Requested time 85.713000000 but the earliest data is at time 85.820000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113515.928539923, 86.333000000]: Lookup would require extrapolation into the past.  Requested time 85.763000000 but the earliest data is at time 85.820000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113516.890099181, 86.540000000]: Lookup would require extrapolation into the past.  Requested time 85.813000000 but the earliest data is at time 85.820000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 6991, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7084]
[tilt_shadow_filter-67] process has died [pid 7084, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7175]
[ERROR] [1439113525.298988222, 88.326000000]: Lookup would require extrapolation into the past.  Requested time 88.071000000 but the earliest data is at time 88.200000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113526.317450938, 88.541000000]: Lookup would require extrapolation into the past.  Requested time 88.114000000 but the earliest data is at time 88.200000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113527.274011338, 88.750000000]: Lookup would require extrapolation into the past.  Requested time 88.165000000 but the earliest data is at time 88.200000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 7175, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7268]
[tilt_shadow_filter-67] process has died [pid 7268, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7355]
[ERROR] [1439113535.446084500, 90.466000000]: Lookup would require extrapolation into the past.  Requested time 90.224000000 but the earliest data is at time 90.320000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113536.268671745, 90.673000000]: Lookup would require extrapolation into the past.  Requested time 90.271000000 but the earliest data is at time 90.320000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 7355, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7448]
[tilt_shadow_filter-67] process has died [pid 7448, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7535]
[ERROR] [1439113546.829973233, 93.006000000]: Lookup would require extrapolation into the past.  Requested time 92.723000000 but the earliest data is at time 92.821000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113547.649882487, 93.216000000]: Lookup would require extrapolation into the past.  Requested time 92.768000000 but the earliest data is at time 92.821000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113548.297959432, 93.417000000]: Lookup would require extrapolation into the past.  Requested time 92.818000000 but the earliest data is at time 92.821000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 7535, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7629]
[ INFO] [1439113550.016283821, 93.723000000]: current-map /eng2/7f/ #<cascaded-coords #Xa6c1280 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[tilt_shadow_filter-67] process has died [pid 7629, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7716]
[ERROR] [1439113557.262788410, 95.210000000]: Lookup would require extrapolation into the past.  Requested time 94.921000000 but the earliest data is at time 95.102000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113558.076075239, 95.419000000]: Lookup would require extrapolation into the past.  Requested time 94.968000000 but the earliest data is at time 95.102000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113559.066627401, 95.621000000]: Lookup would require extrapolation into the past.  Requested time 95.018000000 but the earliest data is at time 95.102000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113559.998321396, 95.825000000]: Lookup would require extrapolation into the past.  Requested time 95.068000000 but the earliest data is at time 95.102000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 7716, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7809]
[tilt_shadow_filter-67] process has died [pid 7809, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7896]
[ERROR] [1439113567.696512021, 97.435000000]: Lookup would require extrapolation into the past.  Requested time 97.168000000 but the earliest data is at time 97.280000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113568.715959275, 97.639000000]: Lookup would require extrapolation into the past.  Requested time 97.218000000 but the earliest data is at time 97.280000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113569.645515761, 97.852000000]: Lookup would require extrapolation into the past.  Requested time 97.268000000 but the earliest data is at time 97.280000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 7896, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [7991]
[tilt_shadow_filter-67] process has died [pid 7991, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [8084]
[ERROR] [1439113579.326304619, 99.790000000]: Lookup would require extrapolation into the past.  Requested time 99.526000000 but the earliest data is at time 99.680000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113580.109622274, 99.996000000]: Lookup would require extrapolation into the past.  Requested time 99.570000000 but the earliest data is at time 99.680000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113581.018675778, 100.199000000]: Lookup would require extrapolation into the past.  Requested time 99.619000000 but the earliest data is at time 99.680000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113581.968921812, 100.406000000]: Lookup would require extrapolation into the past.  Requested time 99.669000000 but the earliest data is at time 99.680000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 8084, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [8171]
[tilt_shadow_filter-67] process has died [pid 8171, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [8264]
[ERROR] [1439113590.390755571, 102.142000000]: Lookup would require extrapolation into the past.  Requested time 101.869000000 but the earliest data is at time 101.883000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 8264, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [8351]
[tilt_shadow_filter-67] process has died [pid 8351, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [8444]
[ INFO] [1439113598.528606621, 103.723000000]: current-map /eng2/7f/ #<cascaded-coords #Xa859018 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ERROR] [1439113601.656921355, 104.370000000]: Lookup would require extrapolation into the past.  Requested time 104.119000000 but the earliest data is at time 104.260000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113602.454131851, 104.577000000]: Lookup would require extrapolation into the past.  Requested time 104.169000000 but the earliest data is at time 104.260000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113603.203414410, 104.784000000]: Lookup would require extrapolation into the past.  Requested time 104.219000000 but the earliest data is at time 104.260000000, when looking up transform from frame [base_footprint] to frame [base_link]
[tilt_shadow_filter-67] process has died [pid 8444, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [8538]
[tilt_shadow_filter-67] process has died [pid 8538, exit code -11, cmd /opt/ros/indigo/lib/laser_filters/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67.log].
log file: /home/k-okada/.ros/log/6ab2962a-3e7a-11e5-a43e-28b2bde75e69/tilt_shadow_filter-67*.log
[tilt_shadow_filter-67] restarting process
process[tilt_shadow_filter-67]: started with pid [8625]
[ERROR] [1439113612.536344281, 106.678000000]: Lookup would require extrapolation into the past.  Requested time 106.419000000 but the earliest data is at time 106.520000000, when looking up transform from frame [base_footprint] to frame [base_link]
[ERROR] [1439113613.474122010, 106.888000000]: Lookup would require extrapolation into the past.  Requested time 106.469000000 but the earliest data is at time 106.520000000, when looking up transform from frame [base_footprint] to frame [base_link]

@k-okada I couldn't have any problem around launch to execute go-pos ... I couldn't find any dying nodes.

pr2_gazebo_test pr2_gazebo_go_pos_test_x2

$ roslaunch jsk_pr2_startup pr2_gazebo_73b2.launch 
... logging to /home/aginika/.ros/log/c7013aa0-3f68-11e5-970f-001f29030e5b/roslaunch-remi-16946.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/aginika/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://remi:48162/

SUMMARY
========

CLEAR PARAMETERS
 * /depth_image_creator_nodelet/
 * /move_base_node/
 * /pointcloud_screenpoint_nodelet/

PARAMETERS
 * /active_user/launch_user_name: False
 * /amcl/base_frame_id: /base_footprint
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 30
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 5000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.8
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: /odom_combined
 * /amcl/odom_model_type: omni
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 0.1
 * /amcl/update_min_a: 0.5
 * /amcl/update_min_d: 0.2
 * /amcl/use_map_topic: True
 * /base_controller/bl_caster_l_wheel_joint/d: 0.0
 * /base_controller/bl_caster_l_wheel_joint/i: 0.0
 * /base_controller/bl_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/bl_caster_l_wheel_joint/p: 3.0
 * /base_controller/bl_caster_r_wheel_joint/d: 0.0
 * /base_controller/bl_caster_r_wheel_joint/i: 0.0
 * /base_controller/bl_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/bl_caster_r_wheel_joint/p: 3.0
 * /base_controller/bl_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/bl_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/bl_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/bl_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/bl_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/br_caster_l_wheel_joint/d: 0.0
 * /base_controller/br_caster_l_wheel_joint/i: 0.0
 * /base_controller/br_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/br_caster_l_wheel_joint/p: 3.0
 * /base_controller/br_caster_r_wheel_joint/d: 0.0
 * /base_controller/br_caster_r_wheel_joint/i: 0.0
 * /base_controller/br_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/br_caster_r_wheel_joint/p: 3.0
 * /base_controller/br_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/br_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/br_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/br_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/br_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/caster_names: fr_caster_rotatio...
 * /base_controller/caster_position_pid_gains/d: 0.0
 * /base_controller/caster_position_pid_gains/i: 0.0
 * /base_controller/caster_position_pid_gains/i_clamp: 3.45
 * /base_controller/caster_position_pid_gains/p: 80.0
 * /base_controller/caster_velocity_filter/name: caster_velocity_f...
 * /base_controller/caster_velocity_filter/params/a: [1.0, -0.98]
 * /base_controller/caster_velocity_filter/params/b: [0.02]
 * /base_controller/caster_velocity_filter/type: filters/MultiChan...
 * /base_controller/caster_velocity_pid_gains/d: 0.0
 * /base_controller/caster_velocity_pid_gains/i: 0.0
 * /base_controller/caster_velocity_pid_gains/i_clamp: 4.0
 * /base_controller/caster_velocity_pid_gains/p: 8.0
 * /base_controller/fl_caster_l_wheel_joint/d: 0.0
 * /base_controller/fl_caster_l_wheel_joint/i: 0.0
 * /base_controller/fl_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/fl_caster_l_wheel_joint/p: 3.0
 * /base_controller/fl_caster_r_wheel_joint/d: 0.0
 * /base_controller/fl_caster_r_wheel_joint/i: 0.0
 * /base_controller/fl_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/fl_caster_r_wheel_joint/p: 3.0
 * /base_controller/fl_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/fl_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/fl_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/fl_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/fl_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/fr_caster_l_wheel_joint/d: 0.0
 * /base_controller/fr_caster_l_wheel_joint/i: 0.0
 * /base_controller/fr_caster_l_wheel_joint/i_clamp: 2.0
 * /base_controller/fr_caster_l_wheel_joint/p: 3.0
 * /base_controller/fr_caster_r_wheel_joint/d: 0.0
 * /base_controller/fr_caster_r_wheel_joint/i: 0.0
 * /base_controller/fr_caster_r_wheel_joint/i_clamp: 2.0
 * /base_controller/fr_caster_r_wheel_joint/p: 3.0
 * /base_controller/fr_caster_rotation_joint/position_controller/d: 0.0
 * /base_controller/fr_caster_rotation_joint/position_controller/i: 0.0
 * /base_controller/fr_caster_rotation_joint/position_controller/i_clamp: 3.45
 * /base_controller/fr_caster_rotation_joint/position_controller/p: 80.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/d: 0.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i: 0.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i_clamp: 4.0
 * /base_controller/fr_caster_rotation_joint/velocity_controller/p: 8.0
 * /base_controller/joint_trajectory_action/base_link_pan/max_velocity: 0.505
 * /base_controller/joint_trajectory_action/base_link_x/max_velocity: 0.305
 * /base_controller/joint_trajectory_action/base_link_y/max_velocity: 0.305
 * /base_controller/joint_trajectory_action/goal_threshold: 10.0
 * /base_controller/joint_trajectory_action/rotational_joint_name: base_link_pan
 * /base_controller/joint_trajectory_action/x_joint_name: base_link_x
 * /base_controller/joint_trajectory_action/y_joint_name: base_link_y
 * /base_controller/max_rotational_acceleration: 2.0
 * /base_controller/max_rotational_velocity: 2.0
 * /base_controller/max_translational_acceleration/x: 2.0
 * /base_controller/max_translational_acceleration/y: 2.0
 * /base_controller/max_translational_velocity: 1.0
 * /base_controller/publish_tf: False
 * /base_controller/state_publish_rate: 0.25
 * /base_controller/timeout: 0.2
 * /base_controller/type: pr2_mechanism_con...
 * /base_controller/wheel_pid_gains/d: 0.0
 * /base_controller/wheel_pid_gains/i: 0.0
 * /base_controller/wheel_pid_gains/i_clamp: 2.0
 * /base_controller/wheel_pid_gains/p: 3.0
 * /base_hokuyo_node/frame_id: base_laser_link
 * /base_hokuyo_node/intensity: False
 * /base_hokuyo_node/max_ang: 2.2689
 * /base_hokuyo_node/min_ang: -2.2689
 * /base_hokuyo_node/port: /etc/ros/sensors/...
 * /base_hokuyo_node/skip: 1
 * /base_laser_self_filter/min_sensor_dist: 0.05
 * /base_laser_self_filter/self_see_default_padding: 0.01
 * /base_laser_self_filter/self_see_default_scale: 1.0
 * /base_laser_self_filter/self_see_links: [{'padding': 0.04...
 * /base_laser_self_filter/sensor_frame: base_laser_link
 * /base_odometry/base_footprint_frame: base_footprint
 * /base_odometry/base_link_frame: base_link
 * /base_odometry/caster_calibration_multiplier: 1.0
 * /base_odometry/caster_names: fr_caster_rotatio...
 * /base_odometry/cov_xrotation: 0.0
 * /base_odometry/cov_xy: 0.0
 * /base_odometry/cov_yrotation: 0.0
 * /base_odometry/ils_max_iterations: 3
 * /base_odometry/odom_frame: odom
 * /base_odometry/odom_publish_rate: 100.0
 * /base_odometry/odometer_publish_rate: 1.0
 * /base_odometry/publish_tf: False
 * /base_odometry/rotation_stddev: 0.017
 * /base_odometry/state_publish_rate: 1.0
 * /base_odometry/type: pr2_mechanism_con...
 * /base_odometry/verbose: False
 * /base_odometry/wheel_radius_multiplier: 1.0
 * /base_odometry/x_stddev: 0.002
 * /base_odometry/y_stddev: 0.002
 * /base_scan_marking_to_laserscan/concurrency_level: 0
 * /base_shadow_filter/cloud_filter_chain: [{'type': 'pr2_na...
 * /base_shadow_filter/scan_filter_chain: [{'type': 'ScanSh...
 * /base_shadow_filter/target_frame: base_footprint
 * /cmd_vel_selector/default_select: /navigation/unsaf...
 * /depth_image_creator_nodelet/max_queue_size: 10
 * /depth_image_creator_nodelet/scale_depth: 5.0
 * /depth_image_creator_nodelet/use_approximate: True
 * /depth_image_creator_nodelet/use_asynchronous: False
 * /depth_image_creator_nodelet/use_fixed_transform: False
 * /depth_image_creator_nodelet/use_service: False
 * /diag_agg/analyzers/joints/expected: ['Joint (bl_caste...
 * /diag_agg/analyzers/joints/path: Joints
 * /diag_agg/analyzers/joints/startswith: ['Joint']
 * /diag_agg/analyzers/joints/type: GenericAnalyzer
 * /elbow_flex_gains/d: 2.0
 * /elbow_flex_gains/i: 0.0
 * /elbow_flex_gains/i_clamp: 0.0
 * /elbow_flex_gains/p: 40.0
 * /empty_cloud_publisher/frame_id: /laser_tilt_link
 * /face_detector/approximate_sync: True
 * /face_detector/classifier_filename: /opt/ros/indigo/s...
 * /face_detector/classifier_name: frontalface
 * /face_detector/classifier_reliability: 0.8
 * /face_detector/do_continuous: True
 * /face_detector/do_display: False
 * /face_detector/do_publish_faces_of_unknown_size: False
 * /face_detector/face_size_min_m: 0.1
 * /face_detector/fixed_frame: kinect_head_rgb_o...
 * /face_detector/use_rgbd: True
 * /forearm_roll_gains/d: 2.0
 * /forearm_roll_gains/i: 0.0
 * /forearm_roll_gains/i_clamp: 0.0
 * /forearm_roll_gains/p: 20.0
 * /head_controller/pan_controller/joint: head_pan_joint
 * /head_controller/pan_controller/pid/d: 0.5
 * /head_controller/pan_controller/pid/i: 0.0
 * /head_controller/pan_controller/pid/i_clamp: 0.0
 * /head_controller/pan_controller/pid/p: 10.0
 * /head_controller/pan_controller/type: robot_mechanism_c...
 * /head_controller/pan_link_name: head_pan_link
 * /head_controller/tilt_controller/joint: head_tilt_joint
 * /head_controller/tilt_controller/pid/d: 0.04
 * /head_controller/tilt_controller/pid/i: 0.0
 * /head_controller/tilt_controller/pid/i_clamp: 0.0
 * /head_controller/tilt_controller/pid/p: 0.6
 * /head_controller/tilt_controller/type: robot_mechanism_c...
 * /head_controller/tilt_link_name: head_tilt_link
 * /head_controller/type: pr2_mechanism_con...
 * /head_traj_controller/command_selector/default_select: command_dummy
 * /head_traj_controller/gains/head_pan_joint/d: 2.0
 * /head_traj_controller/gains/head_pan_joint/i: 12.0
 * /head_traj_controller/gains/head_pan_joint/i_clamp: 0.5
 * /head_traj_controller/gains/head_pan_joint/p: 25.0
 * /head_traj_controller/gains/head_tilt_joint/d: 1.6
 * /head_traj_controller/gains/head_tilt_joint/i: 2.0
 * /head_traj_controller/gains/head_tilt_joint/i_clamp: 0.1
 * /head_traj_controller/gains/head_tilt_joint/p: 49.6
 * /head_traj_controller/joints: ['head_pan_joint'...
 * /head_traj_controller/type: robot_mechanism_c...
 * /head_traj_controller_loose/gains/head_pan_joint/d: 0.75
 * /head_traj_controller_loose/gains/head_pan_joint/i: 18.0
 * /head_traj_controller_loose/gains/head_pan_joint/i_clamp: 0.5
 * /head_traj_controller_loose/gains/head_pan_joint/p: 15.0
 * /head_traj_controller_loose/gains/head_tilt_joint/d: 2
 * /head_traj_controller_loose/gains/head_tilt_joint/i: 1.5
 * /head_traj_controller_loose/gains/head_tilt_joint/i_clamp: 0.1
 * /head_traj_controller_loose/gains/head_tilt_joint/p: 50
 * /head_traj_controller_loose/joints: ['head_pan_joint'...
 * /head_traj_controller_loose/type: robot_mechanism_c...
 * /interpolate_missing_tilt_laser_data_filter/scan_filter_chain: [{'type': 'Interp...
 * /l_arm_controller/gains/l_elbow_flex_joint/d: 4.0
 * /l_arm_controller/gains/l_elbow_flex_joint/i: 450
 * /l_arm_controller/gains/l_elbow_flex_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_elbow_flex_joint/p: 700.0
 * /l_arm_controller/gains/l_forearm_roll_joint/d: 6.0
 * /l_arm_controller/gains/l_forearm_roll_joint/i: 300
 * /l_arm_controller/gains/l_forearm_roll_joint/i_clamp: 2.0
 * /l_arm_controller/gains/l_forearm_roll_joint/p: 300.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/d: 10.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/i: 700.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_shoulder_lift_joint/p: 1200.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/d: 18.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/i: 800.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_shoulder_pan_joint/p: 2400.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/d: 6.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/i: 600.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/i_clamp: 4.0
 * /l_arm_controller/gains/l_upper_arm_roll_joint/p: 1000.0
 * /l_arm_controller/gains/l_wrist_flex_joint/d: 4.0
 * /l_arm_controller/gains/l_wrist_flex_joint/i: 300
 * /l_arm_controller/gains/l_wrist_flex_joint/i_clamp: 2.0
 * /l_arm_controller/gains/l_wrist_flex_joint/p: 300.0
 * /l_arm_controller/gains/l_wrist_roll_joint/d: 4.0
 * /l_arm_controller/gains/l_wrist_roll_joint/i: 300
 * /l_arm_controller/gains/l_wrist_roll_joint/i_clamp: 2.0
 * /l_arm_controller/gains/l_wrist_roll_joint/p: 300.0
 * /l_arm_controller/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_elbow_flex_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_lift_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal: 0.02
 * /l_arm_controller/joint_trajectory_action_node/joints: ['l_shoulder_pan_...
 * /l_arm_controller/joints: ['l_shoulder_pan_...
 * /l_arm_controller/type: robot_mechanism_c...
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/d: 2.0
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_elbow_flex_joint/p: 40.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/d: 2.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_forearm_roll_joint/p: 20.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/d: 12.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/mass: 2.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/p: 60.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/acc_converge: 1.5
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/effort_limit: 8.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/lambda: 3.0
 * /l_arm_controller_loose/gains/l_shoulder_lift_joint/proxy/vel_limit: 2.082
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/d: 5.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/mass: 3.3
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/p: 50.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/acc_converge: 1.5
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/effort_limit: 11.8
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/lambda: 3.0
 * /l_arm_controller_loose/gains/l_shoulder_pan_joint/proxy/vel_limit: 2.088
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/d: 3.0
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_upper_arm_roll_joint/p: 45.0
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/d: 0.5
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_wrist_flex_joint/p: 13.0
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/d: 0.25
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/i: 0.0
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/i_clamp: 0.0
 * /l_arm_controller_loose/gains/l_wrist_roll_joint/p: 6.25
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_elbow_flex_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_forearm_roll_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_shoulder_lift_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_shoulder_pan_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_upper_arm_roll_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_wrist_flex_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/constraints/l_wrist_roll_joint/goal: 0.02
 * /l_arm_controller_loose/joint_trajectory_action_node/joints: ['l_shoulder_pan_...
 * /l_arm_controller_loose/joints: ['l_shoulder_pan_...
 * /l_arm_controller_loose/type: robot_mechanism_c...
 * /l_gripper_controller/gripper_action_node/stall_timeout: 0.5
 * /l_gripper_controller/gripper_action_node/stall_velocity_threshold: 0.02
 * /l_gripper_controller/joint: l_gripper_joint
 * /l_gripper_controller/pid/p: 1000.0
 * /l_gripper_controller/type: pr2_mechanism_con...
 * /laser_tilt_controller/gains/d: 0.2
 * /laser_tilt_controller/gains/i: 0.1
 * /laser_tilt_controller/gains/i_clamp: 0.5
 * /laser_tilt_controller/gains/p: 8.0
 * /laser_tilt_controller/joint: laser_tilt_mount_...
 * /laser_tilt_controller/max_acceleration: 30
 * /laser_tilt_controller/max_velocity: 100
 * /laser_tilt_controller/type: pr2_mechanism_con...
 * /laser_tilt_controller/velocity_filter: [{'type': 'filter...
 * /left_camera_info_relay/lazy: True
 * /left_image_raw_relay/lazy: True
 * /leg_detector/fixed_frame: base_link
 * /map_server00_remi_16946_3438734948484772181/frame_id: /eng2/7f
 * /map_server01_remi_16946_4052744625539021589/frame_id: /eng2/1f
 * /map_server02_remi_16946_3359565902842329775/frame_id: /eng2/2f
 * /map_server03_remi_16946_46098703617495288/frame_id: /eng2/3f
 * /map_server04_remi_16946_4757149485181239492/frame_id: /eng2/8f
 * /move_base_node/DWAPlannerROS/acc_lim_th: 3.2
 * /move_base_node/DWAPlannerROS/acc_lim_x: 2.5
 * /move_base_node/DWAPlannerROS/acc_lim_y: 2.5
 * /move_base_node/DWAPlannerROS/forward_point_distance: 0.325
 * /move_base_node/DWAPlannerROS/goal_distance_bias: 32.0
 * /move_base_node/DWAPlannerROS/max_rot_vel: 1.0
 * /move_base_node/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base_node/DWAPlannerROS/max_trans_vel: 0.55
 * /move_base_node/DWAPlannerROS/max_vel_x: 0.55
 * /move_base_node/DWAPlannerROS/max_vel_y: 0.1
 * /move_base_node/DWAPlannerROS/min_rot_vel: 0.4
 * /move_base_node/DWAPlannerROS/min_trans_vel: 0.1
 * /move_base_node/DWAPlannerROS/min_vel_x: 0.0
 * /move_base_node/DWAPlannerROS/min_vel_y: -0.1
 * /move_base_node/DWAPlannerROS/occdist_scale: 0.01
 * /move_base_node/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base_node/DWAPlannerROS/path_distance_bias: 24.0
 * /move_base_node/DWAPlannerROS/rot_stopped_vel: 0.01
 * /move_base_node/DWAPlannerROS/scaling_speed: 0.25
 * /move_base_node/DWAPlannerROS/sim_granularity: 0.025
 * /move_base_node/DWAPlannerROS/sim_period: 0.1
 * /move_base_node/DWAPlannerROS/sim_time: 1.7
 * /move_base_node/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base_node/DWAPlannerROS/trans_stopped_vel: 0.01
 * /move_base_node/DWAPlannerROS/vtheta_samples: 20
 * /move_base_node/DWAPlannerROS/vx_samples: 3
 * /move_base_node/DWAPlannerROS/vy_samples: 10
 * /move_base_node/DWAPlannerROS/xy_goal_tolerance: 0.2
 * /move_base_node/DWAPlannerROS/yaw_goal_tolerance: 0.17
 * /move_base_node/aggressive_reset/reset_distance: 1.84
 * /move_base_node/base_local_planner: dwa_local_planner...
 * /move_base_node/clearing_radius: 0.59
 * /move_base_node/conservative_reset/reset_distance: 3.0
 * /move_base_node/controller_frequency: 10.0
 * /move_base_node/controller_patience: 15.0
 * /move_base_node/footprint_padding: 0.015
 * /move_base_node/global_costmap/footprint: [[-0.325, -0.325]...
 * /move_base_node/global_costmap/global_frame: map
 * /move_base_node/global_costmap/inflation_layer/inflation_radius: 0.2
 * /move_base_node/global_costmap/inflation_radius: 0.2
 * /move_base_node/global_costmap/mark_threshold: 0
 * /move_base_node/global_costmap/obstacle_layer/mark_threshold: 0
 * /move_base_node/global_costmap/obstacle_layer/origin_z: 0.0
 * /move_base_node/global_costmap/obstacle_layer/unknown_threshold: 8
 * /move_base_node/global_costmap/obstacle_layer/z_resolution: 0.1125
 * /move_base_node/global_costmap/obstacle_layer/z_voxels: 16
 * /move_base_node/global_costmap/obstacle_range: 2.5
 * /move_base_node/global_costmap/origin_z: 0.0
 * /move_base_node/global_costmap/plugins: [{'type': 'costma...
 * /move_base_node/global_costmap/publish_frequency: 0.0
 * /move_base_node/global_costmap/raytrace_range: 3.0
 * /move_base_node/global_costmap/robot_base_frame: base_footprint
 * /move_base_node/global_costmap/rolling_window: False
 * /move_base_node/global_costmap/static_map: True
 * /move_base_node/global_costmap/transform_tolerance: 1.0
 * /move_base_node/global_costmap/unknown_cost_value: 0
 * /move_base_node/global_costmap/unknown_threshold: 8
 * /move_base_node/global_costmap/update_frequency: 5.0
 * /move_base_node/global_costmap/z_resolution: 0.1125
 * /move_base_node/global_costmap/z_voxels: 16
 * /move_base_node/local_costmap/global_frame: odom_combined
 * /move_base_node/local_costmap/height: 6.0
 * /move_base_node/local_costmap/inflation_layer/inflation_radius: 0.2
 * /move_base_node/local_costmap/inflation_radius: 0.2
 * /move_base_node/local_costmap/mark_threshold: 0
 * /move_base_node/local_costmap/obstacle_layer/mark_threshold: 0
 * /move_base_node/local_costmap/obstacle_layer/origin_z: 0.0
 * /move_base_node/local_costmap/obstacle_layer/unknown_threshold: 8
 * /move_base_node/local_costmap/obstacle_layer/z_resolution: 0.1125
 * /move_base_node/local_costmap/obstacle_layer/z_voxels: 16
 * /move_base_node/local_costmap/obstacle_range: 2.5
 * /move_base_node/local_costmap/obstacles/base_scan/clearing: True
 * /move_base_node/local_costmap/obstacles/base_scan/data_type: LaserScan
 * /move_base_node/local_costmap/obstacles/base_scan/expected_update_rate: 0.1
 * /move_base_node/local_costmap/obstacles/base_scan/marking: False
 * /move_base_node/local_costmap/obstacles/base_scan/sensor_frame: /base_laser_link
 * /move_base_node/local_costmap/obstacles/base_scan/topic: /base_scan
 * /move_base_node/local_costmap/obstacles/base_scan_marking/clearing: True
 * /move_base_node/local_costmap/obstacles/base_scan_marking/data_type: PointCloud2
 * /move_base_node/local_costmap/obstacles/base_scan_marking/expected_update_rate: 0.2
 * /move_base_node/local_costmap/obstacles/base_scan_marking/marking: True
 * /move_base_node/local_costmap/obstacles/base_scan_marking/max_obstacle_height: 2.0
 * /move_base_node/local_costmap/obstacles/base_scan_marking/min_obstacle_height: 0.08
 * /move_base_node/local_costmap/obstacles/base_scan_marking/observation_persistence: 0.1
 * /move_base_node/local_costmap/obstacles/base_scan_marking/sensor_frame: base_laser_link
 * /move_base_node/local_costmap/obstacles/base_scan_marking/topic: /base_scan_marking
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/clearing: False
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/data_type: PointCloud2
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/expected_update_rate: 0.2
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/marking: True
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/max_obstacle_height: 1.8
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/min_obstacle_height: -0.1
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/observation_persistence: 0.7
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/sensor_frame: laser_tilt_link
 * /move_base_node/local_costmap/obstacles/ground_object_cloud/topic: /ground_object_cl...
 * /move_base_node/local_costmap/obstacles/observation_sources: base_scan_marking...
 * /move_base_node/local_costmap/obstacles/tilt_scan/clearing: True
 * /move_base_node/local_costmap/obstacles/tilt_scan/data_type: LaserScan
 * /move_base_node/local_costmap/obstacles/tilt_scan/expected_update_rate: 0.2
 * /move_base_node/local_costmap/obstacles/tilt_scan/marking: False
 * /move_base_node/local_costmap/obstacles/tilt_scan/max_obstacle_height: 40.0
 * /move_base_node/local_costmap/obstacles/tilt_scan/min_obstacle_height: -20.0
 * /move_base_node/local_costmap/obstacles/tilt_scan/observation_persistence: 0.2
 * /move_base_node/local_costmap/obstacles/tilt_scan/sensor_frame: laser_tilt_link
 * /move_base_node/local_costmap/obstacles/tilt_scan/topic: /tilt_scan
 * /move_base_node/local_costmap/origin_x: 0.0
 * /move_base_node/local_costmap/origin_y: 0.0
 * /move_base_node/local_costmap/origin_z: 0.0
 * /move_base_node/local_costmap/passing/amplitude: 20.0
 * /move_base_node/local_costmap/passing/covariance: 0.15
 * /move_base_node/local_costmap/passing/cutoff: 17.0
 * /move_base_node/local_costmap/passing/enabled: True
 * /move_base_node/local_costmap/passing/factor: 5.0
 * /move_base_node/local_costmap/passing/keep_time: 0.2
 * /move_base_node/local_costmap/people/amplitude: 20.0
 * /move_base_node/local_costmap/people/covariance: 0.25
 * /move_base_node/local_costmap/people/cutoff: 16.0
 * /move_base_node/local_costmap/people/enabled: True
 * /move_base_node/local_costmap/people/factor: 5.0
 * /move_base_node/local_costmap/people/keep_time: 0.2
 * /move_base_node/local_costmap/plugins: [{'type': 'costma...
 * /move_base_node/local_costmap/publish_frequency: 10.0
 * /move_base_node/local_costmap/publish_voxel_map: True
 * /move_base_node/local_costmap/raytrace_range: 3.0
 * /move_base_node/local_costmap/resolution: 0.025
 * /move_base_node/local_costmap/robot_base_frame: base_footprint
 * /move_base_node/local_costmap/rolling_window: True
 * /move_base_node/local_costmap/static_map: False
 * /move_base_node/local_costmap/transform_tolerance: 1.0
 * /move_base_node/local_costmap/unknown_cost_value: 0
 * /move_base_node/local_costmap/unknown_threshold: 8
 * /move_base_node/local_costmap/width: 6.0
 * /move_base_node/local_costmap/z_resolution: 0.1125
 * /move_base_node/local_costmap/z_voxels: 16
 * /move_base_node/move_slow_and_clear/clearing_distance: 0.5
 * /move_base_node/move_slow_and_clear/limited_distance: 0.3
 * /move_base_node/move_slow_and_clear/limited_rot_speed: 0.45
 * /move_base_node/move_slow_and_clear/limited_trans_speed: 0.25
 * /move_base_node/recovery_behaviors: [{'type': 'clear_...
 * /move_base_node/super_conservative_reset/reset_distance: 5.0
 * /narrow_stereo/narrow_stereo_proc/approximate_sync: True
 * /narrow_stereo/narrow_stereo_proc/disparity_range: 128
 * /narrow_stereo_textured/narrow_stereo_textured_proc/approximate_sync: True
 * /narrow_stereo_textured/narrow_stereo_textured_proc/disparity_range: 128
 * /pointcloud_screenpoint_nodelet/crop_size: 10
 * /pointcloud_screenpoint_nodelet/publish_point: True
 * /pointcloud_screenpoint_nodelet/publish_points: False
 * /pointcloud_screenpoint_nodelet/queue_size: 4
 * /pointcloud_screenpoint_nodelet/search_size: 16
 * /pointcloud_screenpoint_nodelet/use_point: True
 * /pointcloud_screenpoint_nodelet/use_point_array: True
 * /pointcloud_screenpoint_nodelet/use_rect: False
 * /pointcloud_screenpoint_nodelet/use_sync: False
 * /pr2_controller_manager/joint_state_publish_rate: 100.0
 * /pr2_controller_manager/mechanism_statistics_publish_rate: 1.0
 * /pr2_left_arm_kinematics/root_name: torso_lift_link
 * /pr2_left_arm_kinematics/tip_name: l_wrist_roll_link
 * /pr2_right_arm_kinematics/root_name: torso_lift_link
 * /pr2_right_arm_kinematics/tip_name: r_wrist_roll_link
 * /pr2_teleop_general_joystick/control_body: True
 * /pr2_teleop_general_joystick/control_head: True
 * /pr2_teleop_general_joystick/control_larm: True
 * /pr2_teleop_general_joystick/control_prosilica: False
 * /pr2_teleop_general_joystick/control_rarm: True
 * /pr2_teleop_general_joystick/walk_along_w_speed_scale: 3.0
 * /pr2_teleop_general_joystick/walk_along_x_dist_max: 0.25
 * /pr2_teleop_general_joystick/walk_along_x_speed_scale: 3.0
 * /pr2_teleop_general_joystick/walk_along_y_dist_max: 0.2
 * /pr2_teleop_general_joystick/walk_along_y_speed_scale: 1.0
 * /publish_spot/scene: eng2
 * /r_arm_controller/gains/r_elbow_flex_joint/d: 4.0
 * /r_arm_controller/gains/r_elbow_flex_joint/i: 450
 * /r_arm_controller/gains/r_elbow_flex_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_elbow_flex_joint/p: 700.0
 * /r_arm_controller/gains/r_forearm_roll_joint/d: 6.0
 * /r_arm_controller/gains/r_forearm_roll_joint/i: 300
 * /r_arm_controller/gains/r_forearm_roll_joint/i_clamp: 2.0
 * /r_arm_controller/gains/r_forearm_roll_joint/p: 300.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/d: 10.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/i: 700.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_shoulder_lift_joint/p: 1200.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/d: 18.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/i: 800.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_shoulder_pan_joint/p: 2400.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/d: 6.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/i: 600.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/i_clamp: 4.0
 * /r_arm_controller/gains/r_upper_arm_roll_joint/p: 1000.0
 * /r_arm_controller/gains/r_wrist_flex_joint/d: 4.0
 * /r_arm_controller/gains/r_wrist_flex_joint/i: 300
 * /r_arm_controller/gains/r_wrist_flex_joint/i_clamp: 2.0
 * /r_arm_controller/gains/r_wrist_flex_joint/p: 300.0
 * /r_arm_controller/gains/r_wrist_roll_joint/d: 4.0
 * /r_arm_controller/gains/r_wrist_roll_joint/i: 300
 * /r_arm_controller/gains/r_wrist_roll_joint/i_clamp: 2.0
 * /r_arm_controller/gains/r_wrist_roll_joint/p: 300.0
 * /r_arm_controller/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal: 0.02
 * /r_arm_controller/joint_trajectory_action_node/joints: ['r_shoulder_pan_...
 * /r_arm_controller/joints: ['r_shoulder_pan_...
 * /r_arm_controller/type: robot_mechanism_c...
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/d: 2.0
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_elbow_flex_joint/p: 40.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/d: 2.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_forearm_roll_joint/p: 20.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/d: 12.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/mass: 2.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/p: 60.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/acc_converge: 1.5
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/effort_limit: 8.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/lambda: 3.0
 * /r_arm_controller_loose/gains/r_shoulder_lift_joint/proxy/vel_limit: 2.082
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/d: 5.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/mass: 3.3
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/p: 50.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/acc_converge: 1.5
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/effort_limit: 11.8
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/lambda: 3.0
 * /r_arm_controller_loose/gains/r_shoulder_pan_joint/proxy/vel_limit: 2.088
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/d: 3.0
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_upper_arm_roll_joint/p: 45.0
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/d: 0.5
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_wrist_flex_joint/p: 13.0
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/d: 0.25
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/i: 0.0
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/i_clamp: 0.0
 * /r_arm_controller_loose/gains/r_wrist_roll_joint/p: 6.25
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/goal_time: 0.6
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_elbow_flex_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_forearm_roll_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_shoulder_lift_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_shoulder_pan_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_upper_arm_roll_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_wrist_flex_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/constraints/r_wrist_roll_joint/goal: 0.02
 * /r_arm_controller_loose/joint_trajectory_action_node/joints: ['r_shoulder_pan_...
 * /r_arm_controller_loose/joints: ['r_shoulder_pan_...
 * /r_arm_controller_loose/type: robot_mechanism_c...
 * /r_gripper_controller/gripper_action_node/stall_timeout: 0.5
 * /r_gripper_controller/gripper_action_node/stall_velocity_threshold: 0.02
 * /r_gripper_controller/joint: r_gripper_joint
 * /r_gripper_controller/pid/p: 1000.0
 * /r_gripper_controller/type: pr2_mechanism_con...
 * /right_camera_info_relay/lazy: True
 * /right_image_raw_relay/lazy: True
 * /robot_description: <?xml version="1....
 * /robot_pose_ekf/freq: 30.0
 * /robot_pose_ekf/imu_used: True
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/publish_tf: True
 * /robot_pose_ekf/sensor_timeout: 1.0
 * /robot_pose_ekf/vo_used: False
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /sac_ground_removal/planar_refine: 1
 * /sac_ground_removal/sac_distance_threshold: 0.5
 * /sac_ground_removal/sac_min_points_per_model: 40
 * /sac_ground_removal/z_threshold: 0.15
 * /safe_teleop_base/footprint: [[-0.325, -0.325]...
 * /safe_teleop_base/footprint_padding: 0.015
 * /safe_teleop_base/local_costmap/base_scan/clearing: True
 * /safe_teleop_base/local_costmap/base_scan/data_type: LaserScan
 * /safe_teleop_base/local_costmap/base_scan/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/base_scan/marking: False
 * /safe_teleop_base/local_costmap/base_scan/max_obstacle_height: 2.0
 * /safe_teleop_base/local_costmap/base_scan/min_obstacle_height: -0.1
 * /safe_teleop_base/local_costmap/base_scan/observation_persistence: 0.0
 * /safe_teleop_base/local_costmap/base_scan/sensor_frame: base_laser_link
 * /safe_teleop_base/local_costmap/base_scan/topic: /base_scan
 * /safe_teleop_base/local_costmap/base_scan_marking/clearing: False
 * /safe_teleop_base/local_costmap/base_scan_marking/data_type: PointCloud2
 * /safe_teleop_base/local_costmap/base_scan_marking/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/base_scan_marking/marking: True
 * /safe_teleop_base/local_costmap/base_scan_marking/max_obstacle_height: 2.0
 * /safe_teleop_base/local_costmap/base_scan_marking/min_obstacle_height: 0.08
 * /safe_teleop_base/local_costmap/base_scan_marking/observation_persistence: 0.0
 * /safe_teleop_base/local_costmap/base_scan_marking/sensor_frame: base_laser_link
 * /safe_teleop_base/local_costmap/base_scan_marking/topic: /base_scan_marking
 * /safe_teleop_base/local_costmap/footprint: [[-0.325, -0.325]...
 * /safe_teleop_base/local_costmap/global_frame: odom_combined
 * /safe_teleop_base/local_costmap/ground_object_cloud/clearing: False
 * /safe_teleop_base/local_costmap/ground_object_cloud/data_type: PointCloud2
 * /safe_teleop_base/local_costmap/ground_object_cloud/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/ground_object_cloud/marking: True
 * /safe_teleop_base/local_costmap/ground_object_cloud/max_obstacle_height: 2.0
 * /safe_teleop_base/local_costmap/ground_object_cloud/min_obstacle_height: -0.1
 * /safe_teleop_base/local_costmap/ground_object_cloud/observation_persistence: 4.6
 * /safe_teleop_base/local_costmap/ground_object_cloud/sensor_frame: laser_tilt_link
 * /safe_teleop_base/local_costmap/ground_object_cloud/topic: /ground_object_cloud
 * /safe_teleop_base/local_costmap/height: 10.0
 * /safe_teleop_base/local_costmap/inflation_layer/inflation_radius: 0.2
 * /safe_teleop_base/local_costmap/inflation_radius: 0.2
 * /safe_teleop_base/local_costmap/map_type: voxel
 * /safe_teleop_base/local_costmap/mark_threshold: 0
 * /safe_teleop_base/local_costmap/observation_sources: base_scan_marking...
 * /safe_teleop_base/local_costmap/obstacle_layer/mark_threshold: 0
 * /safe_teleop_base/local_costmap/obstacle_layer/origin_z: 0.0
 * /safe_teleop_base/local_costmap/obstacle_layer/unknown_cost_value: 0
 * /safe_teleop_base/local_costmap/obstacle_layer/unknown_threshold: 8
 * /safe_teleop_base/local_costmap/obstacle_layer/z_resolution: 0.081
 * /safe_teleop_base/local_costmap/obstacle_layer/z_voxels: 16
 * /safe_teleop_base/local_costmap/obstacle_range: 2.5
 * /safe_teleop_base/local_costmap/origin_x: 0.0
 * /safe_teleop_base/local_costmap/origin_y: 0.0
 * /safe_teleop_base/local_costmap/origin_z: 0.0
 * /safe_teleop_base/local_costmap/publish_frequency: 2.0
 * /safe_teleop_base/local_costmap/publish_voxel_map: True
 * /safe_teleop_base/local_costmap/raytrace_range: 3.0
 * /safe_teleop_base/local_costmap/resolution: 0.025
 * /safe_teleop_base/local_costmap/robot_base_frame: base_footprint
 * /safe_teleop_base/local_costmap/rolling_window: True
 * /safe_teleop_base/local_costmap/static_map: False
 * /safe_teleop_base/local_costmap/tilt_scan/clearing: True
 * /safe_teleop_base/local_costmap/tilt_scan/data_type: LaserScan
 * /safe_teleop_base/local_costmap/tilt_scan/expected_update_rate: 0.2
 * /safe_teleop_base/local_costmap/tilt_scan/marking: False
 * /safe_teleop_base/local_costmap/tilt_scan/max_obstacle_height: 40.0
 * /safe_teleop_base/local_costmap/tilt_scan/min_obstacle_height: -20.0
 * /safe_teleop_base/local_costmap/tilt_scan/observation_persistence: 0.2
 * /safe_teleop_base/local_costmap/tilt_scan/sensor_frame: laser_tilt_link
 * /safe_teleop_base/local_costmap/tilt_scan/topic: /tilt_scan
 * /safe_teleop_base/local_costmap/transform_tolerance: 0.2
 * /safe_teleop_base/local_costmap/unknown_cost_value: 0
 * /safe_teleop_base/local_costmap/unknown_threshold: 8
 * /safe_teleop_base/local_costmap/update_frequency: 5.0
 * /safe_teleop_base/local_costmap/width: 10.0
 * /safe_teleop_base/local_costmap/z_resolution: 0.081
 * /safe_teleop_base/local_costmap/z_voxels: 16
 * /shoulder_lift_gains/d: 12.0
 * /shoulder_lift_gains/i: 0.0
 * /shoulder_lift_gains/i_clamp: 0.0
 * /shoulder_lift_gains/mass: 2.0
 * /shoulder_lift_gains/p: 60.0
 * /shoulder_lift_gains/proxy/acc_converge: 1.5
 * /shoulder_lift_gains/proxy/effort_limit: 8.0
 * /shoulder_lift_gains/proxy/lambda: 3.0
 * /shoulder_lift_gains/proxy/vel_limit: 2.082
 * /shoulder_pan_gains/d: 5.0
 * /shoulder_pan_gains/i: 0.0
 * /shoulder_pan_gains/i_clamp: 0.0
 * /shoulder_pan_gains/mass: 3.3
 * /shoulder_pan_gains/p: 50.0
 * /shoulder_pan_gains/proxy/acc_converge: 1.5
 * /shoulder_pan_gains/proxy/effort_limit: 11.8
 * /shoulder_pan_gains/proxy/lambda: 3.0
 * /shoulder_pan_gains/proxy/vel_limit: 2.088
 * /tf2_buffer_server/buffer_size: 120.0
 * /tilt_hokuyo_node/frame_id: laser_tilt_link
 * /tilt_hokuyo_node/intensity: True
 * /tilt_hokuyo_node/max_ang: 0.829
 * /tilt_hokuyo_node/min_ang: -0.829
 * /tilt_hokuyo_node/port: /etc/ros/sensors/...
 * /tilt_hokuyo_node/skip: 1
 * /tilt_laser_self_filter/min_sensor_dist: 0.2
 * /tilt_laser_self_filter/self_see_default_padding: 0.01
 * /tilt_laser_self_filter/self_see_default_scale: 1.0
 * /tilt_laser_self_filter/self_see_links: [{'padding': 0.04...
 * /tilt_laser_self_filter/sensor_frame: laser_tilt_link
 * /tilt_shadow_filter/cloud_filter_chain: [{'type': 'pr2_na...
 * /tilt_shadow_filter/high_fidelity: True
 * /tilt_shadow_filter/scan_filter_chain: [{'type': 'ScanSh...
 * /tilt_shadow_filter/target_frame: base_footprint
 * /torso_controller/command_selector/default_select: command_dummy
 * /torso_controller/gains/torso_lift_joint/d: 1000000.0
 * /torso_controller/gains/torso_lift_joint/i: 0.0
 * /torso_controller/gains/torso_lift_joint/i_clamp: 0.0
 * /torso_controller/gains/torso_lift_joint/p: 10000000.0
 * /torso_controller/joints: ['torso_lift_joint']
 * /torso_controller/position_joint_action_node/goal_threshold: 0.01
 * /torso_controller/position_joint_action_node/joint: torso_lift_joint
 * /torso_controller/type: robot_mechanism_c...
 * /tuck_arms_action/controller_name: arm_controller
 * /upper_arm_roll_gains/d: 3.0
 * /upper_arm_roll_gains/i: 0.0
 * /upper_arm_roll_gains/i_clamp: 0.0
 * /upper_arm_roll_gains/p: 45.0
 * /use_sim_time: True
 * /vel_type_selector/default_select: /input_vel
 * /wide_stereo/wide_stereo_proc/approximate_sync: True
 * /wide_stereo/wide_stereo_proc/disparity_range: 128
 * /wrist_flex_gains/d: 0.5
 * /wrist_flex_gains/i: 0.0
 * /wrist_flex_gains/i_clamp: 0.0
 * /wrist_flex_gains/p: 13.0
 * /wrist_roll_gains/d: 0.25
 * /wrist_roll_gains/i: 0.0
 * /wrist_roll_gains/i_clamp: 0.0
 * /wrist_roll_gains/p: 6.25

NODES
  /torso_controller/
    command_mux (topic_tools/mux)
    command_selector (jsk_pr2_startup/mux_selector.py)
    position_joint_action_node (single_joint_position_action/single_joint_position_action)
  /wide_stereo/
    wide_stereo_proc (stereo_image_proc/stereo_image_proc)
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /narrow_stereo/
    narrow_stereo_proc (stereo_image_proc/stereo_image_proc)
  /l_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /base_controller/
    joint_trajectory_action (pr2_base_trajectory_action/pr2_base_trajectory_action)
  /l_arm_controller_loose/
    traj_lock (pr2_mannequin_mode/trajectory_lock.py)
  /r_forearm_cam/
    image_proc (image_proc/image_proc)
  /l_forearm_cam/
    image_proc (image_proc/image_proc)
  /r_gripper_controller/
    gripper_action_node (pr2_gripper_action/pr2_gripper_action)
  /head_traj_controller_loose/
    traj_lock (pr2_mannequin_mode/trajectory_lock.py)
  /
    amcl (amcl/amcl)
    base_hokuyo_node (gazebo_plugins/hokuyo_node)
    base_laser_self_filter (pr2_navigation_self_filter/self_filter)
    base_scan_marking_to_laserscan (pointcloud_to_laserscan/pointcloud_to_laserscan_node)
    base_scan_throttle (topic_tools/throttle)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    battery_visualization (jsk_pr2_startup/battery_visualization.py)
    battery_warning (roseus/roseus)
    camera_synchronizer_node (gazebo_plugins/camera_synchronizer)
    check_cable (roseus/roseus)
    cmd_vel_mux (topic_tools/mux)
    cmd_vel_selector (jsk_pr2_startup/mux_selector.py)
    default_controllers_spawner (pr2_controller_manager/spawner)
    depth_image_creator_nodelet (nodelet/nodelet)
    diag_agg (diagnostic_aggregator/aggregator_node)
    empty_cloud_publisher (jsk_pr2_startup/publish_empty_cloud.py)
    face_detector (face_detector/face_detector)
    fake_joint_calibration (rostopic/rostopic)
    finish_launch_sound (jsk_robot_startup/finish_launch_sound.py)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    ground_object_cloud_throttle (topic_tools/throttle)
    initialpose3d (jsk_maps/initialpose3d.py)
    interpolate_missing_tilt_laser_data_filter (laser_filters/scan_to_scan_filter_chain)
    left_camera_info_relay (topic_tools/relay)
    left_image_raw_relay (topic_tools/relay)
    leg_detector (leg_detector/leg_detector)
    look_forward_in_navigation (roseus/roseus)
    map_server (multi_map_server/multi_map_server)
    map_server00_remi_16946_3438734948484772181 (map_server/map_server)
    map_server01_remi_16946_4052744625539021589 (map_server/map_server)
    map_server02_remi_16946_3359565902842329775 (map_server/map_server)
    map_server03_remi_16946_46098703617495288 (map_server/map_server)
    map_server04_remi_16946_4757149485181239492 (map_server/map_server)
    map_tf00_remi_16946_8732399350642599430 (tf/static_transform_publisher)
    map_tf01_remi_16946_1005449067381205573 (tf/static_transform_publisher)
    map_tf02_remi_16946_3879394980243762279 (tf/static_transform_publisher)
    map_tf03_remi_16946_1149989719804742226 (tf/static_transform_publisher)
    map_tf04_remi_16946_6893393503744235176 (tf/static_transform_publisher)
    map_tf05_remi_16946_313161199508499825 (tf/static_transform_publisher)
    map_tf06_remi_16946_6554783043479538730 (tf/static_transform_publisher)
    map_tf07_remi_16946_6675138263656305424 (tf/static_transform_publisher)
    map_tf08_remi_16946_7732169546619404740 (tf/static_transform_publisher)
    map_tf09_remi_16946_4225440268859792312 (tf/static_transform_publisher)
    map_tfA_remi_16946_2523746109795995772 (tf/static_transform_publisher)
    map_tfB_remi_16946_8342867646097622865 (tf/static_transform_publisher)
    move_base_node (move_base/move_base)
    multiple_joystick_mux (topic_tools/mux)
    people_velocity_tracker (people_velocity_tracker/tracker.py)
    pointcloud_screenpoint_nodelet (nodelet/nodelet)
    pr2_dashboard_aggregator (pr2_dashboard_aggregator/dashboard_aggregator.py)
    pr2_left_arm_kinematics (pr2_arm_kinematics/pr2_arm_kinematics_node)
    pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
    pr2_move_base_node (pr2_move_base/pr2_move_base.py)
    pr2_right_arm_kinematics (pr2_arm_kinematics/pr2_arm_kinematics_node)
    pr2_teleop_general_joystick (pr2_teleop_general/pr2_teleop_general_joystick)
    publish_spot (roseus/roseus)
    relay_c2_depth_camera_info (topic_tools/relay)
    relay_c2_depth_image_raw (image_transport/republish)
    relay_c2_depth_points (topic_tools/relay)
    relay_c2_depth_registered_camera_info (topic_tools/relay)
    relay_c2_depth_registered_points (topic_tools/relay)
    relay_c2_rgb_camera_info (topic_tools/relay)
    relay_c2_rgb_image_color (image_transport/republish)
    relay_c2_rgb_image_raw (image_transport/republish)
    relay_c2_rgb_image_rect_color (image_transport/republish)
    relay_depth_camera_info (topic_tools/relay)
    relay_depth_image_raw (image_transport/republish)
    relay_depth_points (topic_tools/relay)
    relay_depth_registered_camera_info (topic_tools/relay)
    relay_depth_registered_points (topic_tools/relay)
    relay_rgb_camera_info (topic_tools/relay)
    relay_rgb_image_color (image_transport/republish)
    relay_rgb_image_raw (image_transport/republish)
    relay_rgb_image_rect_color (image_transport/republish)
    right_camera_info_relay (topic_tools/relay)
    right_image_raw_relay (topic_tools/relay)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    sac_ground_removal (semantic_point_annotator/sac_inc_ground_removal_node)
    safe_teleop_base (safe_teleop_base/safe_teleop_base)
    screenpoint_manager (nodelet/nodelet)
    sound_node_jp (sound_play/soundplay_node.py)
    spawn_arm_controllers (pr2_controller_manager/spawner)
    spawn_head_controller (pr2_controller_manager/spawner)
    spawn_pr2_model (gazebo_ros/spawn_model)
    start_launch_sound (jsk_robot_startup/start_launch_sound.py)
    tf2_buffer_server (tf2_ros/buffer_server)
    tf_mux (topic_tools/mux)
    tilt_hokuyo_node (gazebo_plugins/hokuyo_node)
    tilt_laser_mux (topic_tools/mux)
    tilt_laser_self_filter (pr2_navigation_self_filter/self_filter)
    tilt_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    tuck_arms_action (pr2_tuck_arms_action/tuck_arms.py)
    unsafe_vel_mux (topic_tools/mux)
    unsafe_warning (roseus/roseus)
    vel_type_selector (jsk_pr2_startup/mux_selector.py)
  /narrow_stereo_textured/
    narrow_stereo_textured_proc (stereo_image_proc/stereo_image_proc)
  /head_traj_controller/
    command_mux (topic_tools/mux)
    command_selector (jsk_pr2_startup/mux_selector.py)
    point_head_action (pr2_head_action/pr2_head_action)
  /r_arm_controller_loose/
    traj_lock (pr2_mannequin_mode/trajectory_lock.py)

WARNING: unrecognized tag sphinxdoc
auto-starting new master
process[master]: started with pid [16980]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c7013aa0-3f68-11e5-970f-001f29030e5b
process[rosout-1]: started with pid [16993]
started core service [/rosout]
process[gazebo-2]: started with pid [17013]
process[gazebo_gui-3]: started with pid [17019]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[spawn_pr2_model-4]: started with pid [17029]
[ INFO] [1439215519.048381879]: Finished loading Gazebo ROS API Plugin.
[1;[ INFO] [1439215519.048897003]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
32mMsg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 133.11.216.134
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 133.11.216.134
process[robot_state_publisher-5]: started with pid [17066]
spawn_model script started
[INFO] [WallTime: 1439215519.615723] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1439215519.636008] [0.000000] Waiting for service /gazebo/spawn_urdf_model
process[pr2_mechanism_diagnostics-6]: started with pid [17110]
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
process[fake_joint_calibration-7]: started with pid [17139]
process[wide_stereo/wide_stereo_proc-8]: started with pid [17159]
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
process[narrow_stereo/narrow_stereo_proc-9]: started with pid [17197]
[ERROR] [1439215521.015056333]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...
[ INFO] [1439215521.066119362]: Connected to master at [localhost:11311]
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
process[narrow_stereo_textured/narrow_stereo_textured_proc-10]: started with pid [17339]
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
process[left_image_raw_relay-11]: started with pid [17520]
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
process[right_image_raw_relay-12]: started with pid [17757]
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
process[left_camera_info_relay-13]: started with pid [17925]
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
process[right_camera_info_relay-14]: started with pid [18166]
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [parser_urdf.cc:1303] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
[INFO] [WallTime: 1439215523.255493] [0.000000] Calling service /gazebo/spawn_urdf_model
process[r_forearm_cam/image_proc-15]: started with pid [18470]
process[l_forearm_cam/image_proc-16]: started with pid [18668]
[ERROR] [1439215523.847940442]: [registerService] Failed to contact master at [localhost:11311].  Retrying...
[ WARN] [1439215523.947244552]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1439215523.947360338]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1439215523.947387409]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1439215523.947502771]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
process[diag_agg-17]: started with pid [18939]
[ WARN] [1439215524.355506160]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1439215524.355584953]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1439215524.355602060]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1439215524.355616955]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
process[pr2_dashboard_aggregator-18]: started with pid [19180]
/opt/ros/indigo/lib/pr2_dashboard_aggregator/dashboard_aggregator.py:45: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pub = rospy.Publisher("dashboard_agg", DashboardState)
[ WARN] [1439215524.871606934]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1439215524.871706083]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1439215524.871732215]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1439215524.871753822]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
process[robot_pose_ekf-19]: started with pid [19347]
[ INFO] [1439215525.135764367]: output frame: odom_combined
[ INFO] [1439215525.135823785]: base frame: base_footprint
process[base_hokuyo_node-20]: started with pid [19486]
process[tilt_hokuyo_node-21]: started with pid [19558]
process[tf2_buffer_server-22]: started with pid [19609]
process[camera_synchronizer_node-23]: started with pid [19664]
[ INFO] [1439215526.717640451]: Starting to spin camera_synchronizer at 100.000000 Hz...
process[default_controllers_spawner-24]: started with pid [19735]
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
process[r_gripper_controller/gripper_action_node-25]: started with pid [19756]
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
Warning [Visual.cc:819] Unable to get Material[PR2/Black] for Geometry[pr2::base_footprint::base_footprint_visual_base_bellow_link. Object will appear white
process[l_gripper_controller/gripper_action_node-26]: started with pid [19824]
[ INFO] [1439215528.111985197]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439215528.112057055]: Starting Laser Plugin (ns = /)!
[ INFO] [1439215528.114090116]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::bl_caster_rotation_link::bl_caster_rotation_link_visual. Object will appear white
process[head_traj_controller/point_head_action-27]: started with pid [19882]
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1439215528.375499964]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1439215528.375587471]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1439215528.470410264]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1439215528.474144487]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1439215528.474208966]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1439215528.498596488]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1439215528.527118407]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1439215528.527687734]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1439215528.559849134]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439215528.588992288]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439215528.650076240]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439215528.673017311]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
process[torso_controller/position_joint_action_node-28]: started with pid [19993]
[ INFO] [1439215528.725933370]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439215528.758083271]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::br_caster_rotation_link::br_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fl_caster_rotation_link::fl_caster_rotation_link_visual. Object will appear white
[ INFO] [1439215528.856329031]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439215528.915558452]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439215529.070180416]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
process[relay_rgb_image_color-29]: started with pid [20065]
[ INFO] [1439215529.301300189]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_wrist_roll_link::l_wrist_roll_link_visual. Object will appear white
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1439215529.407289529]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_forearm_roll_link::l_forearm_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_upper_arm_roll_link::l_upper_arm_roll_link_visual. Object will appear white
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
process[relay_rgb_image_rect_color-30]: started with pid [20174]
[ INFO] [1439215529.545501289]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439215529.599886089]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1439215529.601590983]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439215529.601624480]: Starting Laser Plugin (ns = /)!
[ INFO] [1439215529.602550575]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1439215529.660215452]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[INFO] [WallTime: 1439215529.693451] [0.000000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1439215529.811833749]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
process[relay_rgb_image_raw-31]: started with pid [20329]
[spawn_pr2_model-4] process has finished cleanly
log file: /home/aginika/.ros/log/c7013aa0-3f68-11e5-970f-001f29030e5b/spawn_pr2_model-4*.log
Dbg plugin model name: pr2
[ INFO] [1439215530.013438069]: starting gazebo_ros_controller_manager plugin in ns: /
[ INFO] [1439215530.017580772]: Callback thread id=7f1450cb4700
[ INFO] [1439215530.026926520]: gazebo controller manager plugin is waiting for urdf: //robot_description on the param server.  (make sure there is a rosparam by that name in the ros parameter server, otherwise, this plugin blocks simulation forever).
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_wrist_roll_link::l_wrist_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_wrist_roll_link::r_wrist_roll_link_visual. Object will appear white
[ INFO] [1439215530.088073809]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_forearm_roll_link::l_forearm_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_forearm_roll_link::r_forearm_roll_link_visual. Object will appear white
[ INFO] [1439215530.145874039]: gazebo controller manager got pr2.xml from param server, parsing it...
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_wrist_roll_link::r_wrist_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_upper_arm_roll_link::r_upper_arm_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::l_upper_arm_roll_link::l_upper_arm_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_forearm_roll_link::r_forearm_roll_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/RollLinks] for Geometry[pr2::r_upper_arm_roll_link::r_upper_arm_roll_link_visual. Object will appear white
process[relay_rgb_camera_info-32]: started with pid [20489]
Warning [Visual.cc:819] Unable to get Material[PR2/Black] for Geometry[pr2::base_footprint::base_footprint_visual_base_bellow_link. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::bl_caster_rotation_link::bl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::br_caster_rotation_link::br_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fl_caster_rotation_link::fl_caster_rotation_link_visual. Object will appear white
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fr_caster_rotation_link::fr_caster_rotation_link_visual. Object will appear white
process[relay_depth_image_raw-33]: started with pid [20622]
Warning [Visual.cc:819] Unable to get Material[PR2/caster_texture] for Geometry[pr2::fr_caster_rotation_link::fr_caster_rotation_link_visual. Object will appear white
process[relay_depth_points-34]: started with pid [20729]
[ INFO] [1439215531.251067073]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
process[relay_depth_camera_info-35]: started with pid [20860]
[ INFO] [1439215531.699000896]: trigger_mode trigger_mode streaming
process[relay_depth_registered_points-36]: started with pid [20973]
Dbg plugin model name: pr2
[ INFO] [1439215532.132382439]: f3d plugin missing <frameName>, defaults to world
[ INFO] [1439215532.136793402]: f3d plugin missing <frameName>, defaults to world
[ INFO] [1439215532.196057127, 0.033000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1439215532.246643510, 0.074000000]: Physics dynamic reconfigure ready.
[ INFO] [1439215532.254806126, 0.081000000]: bayer simulation maybe computationally expensive.
[ WARN] [1439215532.254972721, 0.082000000]: The <focal_length>[320.000105] you have provided for camera_ [wide_stereo_l_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
process[relay_depth_registered_camera_info-37]: started with pid [21187]
[ INFO] [1439215532.341564490, 0.151000000]: advertised as /narrow_stereo_textured/left/image_raw

[ INFO] [1439215532.342895407, 0.151000000]: advertised as /narrow_stereo_textured/left/camera_info

[ INFO] [1439215532.346196984, 0.151000000]: advertised as /narrow_stereo_textured/right/image_raw

[ INFO] [1439215532.347764716, 0.151000000]: bayer simulation maybe computationally expensive.
[ WARN] [1439215532.347862185, 0.151000000]: The <focal_length>[320.000105] you have provided for camera_ [wide_stereo_r_stereo_camera_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
[ INFO] [1439215532.456578386, 0.215000000]: trigger_mode trigger_mode streaming
[ WARN] [1439215532.517375189, 0.257000000]: The <focal_length>[320.000105] you have provided for camera_ [l_forearm_cam_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
process[relay_c2_rgb_image_raw-38]: started with pid [21473]
[ WARN] [1439215532.756507650, 0.414000000]: The <focal_length>[320.000105] you have provided for camera_ [r_forearm_cam_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.
process[relay_c2_rgb_image_color-39]: started with pid [22039]
[ INFO] [1439215533.211348990, 0.659000000]: Initializing Imu sensor
[ INFO] [1439215533.211444095, 0.659000000]: Imu sensor activated
process[relay_c2_rgb_image_rect_color-40]: started with pid [22367]
[ INFO] [1439215533.574079405, 0.833000000]: Trajectory:: interpolation type linear
[ INFO] [1439215533.574292632, 0.834000000]: LaserScannerTrajController: Periodic Command set. Duration=1.0000 sec
[ INFO] [1439215533.599675228, 0.853000000]: Successfully spawned 
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
process[relay_c2_rgb_camera_info-41]: started with pid [22825]
process[relay_c2_depth_image_raw-42]: started with pid [23337]
[INFO] [WallTime: 1439215534.468129] [1.448000] Loaded controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
[INFO] [WallTime: 1439215534.473111] [1.450000] Started controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
[ INFO] [1439215534.532218550, 1.493000000]: Initializing Odom sensor
[ INFO] [1439215534.588711092, 1.533000000]: Odom sensor activated
[ INFO] [1439215534.624056445, 1.553000000]: Kalman filter initialized with odom measurement
process[relay_c2_depth_points-43]: started with pid [23481]
process[relay_c2_depth_camera_info-44]: started with pid [23532]
process[relay_c2_depth_registered_points-45]: started with pid [23558]
process[relay_c2_depth_registered_camera_info-46]: started with pid [23588]
[ INFO] [1439215536.135932490, 2.679000000]: advertised as /narrow_stereo_textured/right/camera_info

process[start_launch_sound-47]: started with pid [23620]
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_robot_common/jsk_robot_startup/util/start_launch_sound.py:8: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  p = rospy.Publisher("/robotsound", SoundRequest)
process[amcl-48]: started with pid [23640]
process[spawn_arm_controllers-49]: started with pid [23902]
process[spawn_head_controller-50]: started with pid [23908]
process[pr2_left_arm_kinematics-51]: started with pid [24195]
[ WARN] [1439215538.187025600]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1439215538.211068853]: pr2_arm_kinematics active
process[pr2_right_arm_kinematics-52]: started with pid [24755]
[ WARN] [1439215538.605682986]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1439215538.632350999]: pr2_arm_kinematics active
process[l_arm_controller_loose/traj_lock-53]: started with pid [24901]
/home/aginika/ros/indigo/src/pr2_apps/pr2_mannequin_mode/scripts/trajectory_lock.py:77: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher("command", trajectory_msgs.msg.JointTrajectory)
process[r_arm_controller_loose/traj_lock-54]: started with pid [24924]
/home/aginika/ros/indigo/src/pr2_apps/pr2_mannequin_mode/scripts/trajectory_lock.py:77: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher("command", trajectory_msgs.msg.JointTrajectory)
process[head_traj_controller_loose/traj_lock-55]: started with pid [24948]
/home/aginika/ros/indigo/src/pr2_apps/pr2_mannequin_mode/scripts/trajectory_lock.py:77: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher("command", trajectory_msgs.msg.JointTrajectory)
process[tuck_arms_action-56]: started with pid [24972]
process[pr2_teleop_general_joystick-57]: started with pid [25035]
[ INFO] [1439215540.678158186]: Initing general commander
[WARN] [WallTime: 1439215540.806564] [5.746000] You've passed in true for auto_start to the python action server, you should always pass in false to avoid race conditions.
[ INFO] [1439215541.015869823, 5.900000000]: Waiting for the point_head_action server to come up
process[head_traj_controller/command_mux-58]: started with pid [25191]
process[head_traj_controller/command_selector-59]: started with pid [25271]
[ INFO] [1439215541.738459325, 6.412000000]: Waiting for right arm kinematics servers
[ INFO] [1439215541.742046840, 6.413000000]: Waiting for left arm kinematics servers
process[torso_controller/command_mux-60]: started with pid [25347]
process[torso_controller/command_selector-61]: started with pid [25389]
process[base_controller/joint_trajectory_action-62]: started with pid [25414]
[ INFO] [1439215542.756639535]: joint_trajectory_action 0.305000
[ INFO] [1439215542.757723252]: joint_trajectory_action 0.305000
[ INFO] [1439215542.758772730]: joint_trajectory_action 0.505000
[ WARN] [1439215542.763585736]: You've passed in true for auto_start for the C++ action server at [/base_controller/joint_trajectory_action]. You should always pass in false to avoid race conditions.
process[unsafe_vel_mux-63]: started with pid [25476]
process[vel_type_selector-64]: started with pid [25521]
[INFO] [WallTime: 1439215543.991828] [7.840000] start subscribe (topic=/joy type=sensor_msgs/Joy)
process[safe_teleop_base-65]: started with pid [25544]
[INFO] [WallTime: 1439215544.079822] [7.898000] start subscribe (topic=/navigation/cmd_vel type=geometry_msgs/Twist)
process[cmd_vel_mux-66]: started with pid [25696]
[start_launch_sound-47] process has finished cleanly
log file: /home/aginika/.ros/log/c7013aa0-3f68-11e5-970f-001f29030e5b/start_launch_sound-47*.log
process[cmd_vel_selector-67]: started with pid [26043]
[INFO] [WallTime: 1439215545.149750] [8.598000] start subscribe (topic=/joy type=sensor_msgs/Joy)
[INFO] [WallTime: 1439215545.230414] [8.642000] /input_vel is not published yet
process[check_cable-68]: started with pid [26072]
configuring by "/home/aginika/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x651f8e0[16374] --> 0x6983800[32748] top=37cd
irtgl irtviewer 
EusLisp 9.12(b7ac7e0 1.0.9) for Linux64 created on remi(Wed Aug 5 15:28:30 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 remi Wed Aug 5 15:28:30 JST 2015 b7ac7e0 1.0.9))
eustf roseus_c_util process[unsafe_warning-69]: started with pid [26077]
configuring by "/home/aginika/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x5f5a8e0[16374] --> 0x63be800[32748] top=37cd
irtgl irtviewer 
EusLisp 9.12(b7ac7e0 1.0.9) for Linux64 created on remi(Wed Aug 5 15:28:30 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 remi Wed Aug 5 15:28:30 JST 2015 b7ac7e0 1.0.9))
eustf roseus_c_util process[base_scan_throttle-70]: started with pid [26141]
advertised as base_scan_throttled
process[tilt_shadow_filter-71]: started with pid [26169]
process[interpolate_missing_tilt_laser_data_filter-72]: started with pid [26258]
process[tilt_laser_self_filter-73]: started with pid [26303]
[ INFO] [1439215547.873391182]: Self see link name l_upper_arm_link padding 0.04
[ INFO] [1439215547.929446302]: Self see link name l_upper_arm_roll_link padding 0.01
[ INFO] [1439215547.978605783]: Self see link name l_upper_arm_link padding 0.01
[ INFO] [1439215548.022787092, 10.069000000]: Self see link name l_upper_arm_roll_link padding 0.01
[ INFO] [1439215548.066734403, 10.086000000]: Self see link name l_elbow_flex_link padding 0.01
[ INFO] [1439215548.112468811, 10.115000000]: Self see link name l_forearm_link padding 0.04
process[base_shadow_filter-74]: started with pid [26358]
[ INFO] [1439215548.160071338, 10.138000000]: Self see link name l_forearm_roll_link padding 0.04
[ INFO] [1439215548.205497537, 10.163000000]: Self see link name l_wrist_flex_link padding 0.01
[ INFO] [1439215548.249665177, 10.177000000]: Self see link name l_wrist_roll_link padding 0.01
[ INFO] [1439215548.295421322, 10.192000000]: Self see link name l_gripper_palm_link padding 0.04
[ INFO] [1439215548.340078735, 10.207000000]: Self see link name l_gripper_l_finger_link padding 0.04
[ INFO] [1439215548.383805460, 10.220000000]: Self see link name l_gripper_l_finger_tip_link padding 0.01
[ INFO] [1439215548.428467080, 10.243000000]: Self see link name l_gripper_r_finger_link padding 0.04
[ INFO] [1439215548.472224904, 10.266000000]: Self see link name l_gripper_r_finger_tip_link padding 0.01
[ INFO] [1439215548.517411804, 10.275000000]: Self see link name l_shoulder_pan_link padding 0.1
[ INFO] [1439215548.562296596, 10.298000000]: Self see link name l_shoulder_lift_link padding 0.1
[ INFO] [1439215548.609778389, 10.324000000]: Self see link name r_upper_arm_link padding 0.04
process[base_laser_self_filter-75]: started with pid [26437]
[ INFO] [1439215548.655849783, 10.348000000]: Self see link name r_upper_arm_roll_link padding 0.01
[ INFO] [1439215548.699992801, 10.367000000]: Self see link name r_elbow_flex_link padding 0.01
[ INFO] [1439215548.740777143]: Self see link name l_upper_arm_link padding 0.04
[ INFO] [1439215548.745137485, 10.380000000]: Self see link name r_forearm_link padding 0.04
[ INFO] [1439215548.790086361]: Self see link name l_upper_arm_roll_link padding 0.01
[ INFO] [1439215548.790688635, 10.396000000]: Self see link name r_forearm_roll_link padding 0.04
[ INFO] [1439215548.837285809, 10.421000000]: Self see link name r_wrist_flex_link padding 0.01
[ INFO] [1439215548.837669893]: Self see link name l_upper_arm_link padding 0.01
[ INFO] [1439215548.881010773]: Self see link name l_upper_arm_roll_link padding 0.01
[ INFO] [1439215548.881299950, 10.438000000]: Self see link name r_wrist_roll_link padding 0.01
[ INFO] [1439215548.923933755, 10.443000000]: Self see link name l_elbow_flex_link padding 0.01
[ INFO] [1439215548.926262151, 10.443000000]: Self see link name r_gripper_palm_link padding 0.04
[ INFO] [1439215548.969756379, 10.463000000]: Self see link name l_forearm_link padding 0.04
[ INFO] [1439215548.981756908, 10.470000000]: Self see link name r_gripper_l_finger_link padding 0.04
[ INFO] [1439215549.014544513, 10.475000000]: Self see link name l_forearm_roll_link padding 0.04
[ WARN] [1439215549.015956996, 10.475000000]: No collision geometry specified for link 'l_forearm_cam_frame'
[ INFO] [1439215549.030386745, 10.479000000]: Self see link name r_gripper_l_finger_tip_link padding 0.01
[ INFO] [1439215549.058037643, 10.491000000]: Self see link name l_wrist_flex_link padding 0.01
[ INFO] [1439215549.074394216, 10.500000000]: Self see link name r_gripper_r_finger_link padding 0.04
process[base_scan_marking_to_laserscan-76]: started with pid [26492]
[ INFO] [1439215549.101279747, 10.513000000]: Self see link name l_wrist_roll_link padding 0.01
[ INFO] [1439215549.118631271, 10.517000000]: Self see link name r_gripper_r_finger_tip_link padding 0.01
[ INFO] [1439215549.144449070, 10.522000000]: Self see link name l_gripper_palm_link padding 0.01
[ INFO] [1439215549.162814647, 10.531000000]: Self see link name r_shoulder_pan_link padding 0.1
[ INFO] [1439215549.185052389]: Initializing nodelet with 8 worker threads.
[ INFO] [1439215549.187799999, 10.542000000]: Self see link name l_gripper_l_finger_link padding 0.01
[ INFO] [1439215549.208082527, 10.549000000]: Self see link name r_shoulder_lift_link padding 0.1
[ INFO] [1439215549.230851115, 10.556000000]: Self see link name l_gripper_l_finger_tip_link padding 0.01
[ INFO] [1439215549.251631815, 10.563000000]: Self see link name base_link padding 0.01
[ INFO] [1439215549.272690674, 10.566000000]: Self see link name l_gripper_r_finger_link padding 0.01
[ INFO] [1439215549.316303596, 10.580000000]: Self see link name l_gripper_r_finger_tip_link padding 0.01
[ INFO] [1439215549.360074216, 10.606000000]: Self see link name l_shoulder_pan_link padding 0.01
[ INFO] [1439215549.404738385, 10.625000000]: Self see link name l_shoulder_lift_link padding 0.01
[ INFO] [1439215549.451046171, 10.644000000]: Self see link name r_upper_arm_link padding 0.04
[ INFO] [1439215549.493897148, 10.668000000]: Self see link name r_upper_arm_roll_link padding 0.01
process[ground_object_cloud_throttle-77]: started with pid [26551]
[ INFO] [1439215549.536045620, 10.686000000]: Self see link name r_elbow_flex_link padding 0.01
[ INFO] [1439215549.580743945, 10.715000000]: Self see link name r_forearm_link padding 0.04
[ INFO] [1439215549.625173425, 10.737000000]: Self see link name r_forearm_roll_link padding 0.04
[ WARN] [1439215549.626577538, 10.738000000]: No collision geometry specified for link 'r_forearm_cam_frame'
[ INFO] [1439215549.668407841, 10.766000000]: Self see link name r_wrist_flex_link padding 0.01
[ INFO] [1439215549.712197235, 10.786000000]: Self see link name r_wrist_roll_link padding 0.01
[ INFO] [1439215549.756080806, 10.812000000]: Self see link name r_gripper_palm_link padding 0.04
[ INFO] [1439215549.808797447, 10.833000000]: Self see link name r_gripper_l_finger_link padding 0.04
[ INFO] [1439215549.856381513, 10.852000000]: Self see link name r_gripper_l_finger_tip_link padding 0.04
[ INFO] [1439215549.902734683, 10.872000000]: Self see link name r_gripper_r_finger_link padding 0.04
process[sac_ground_removal-78]: started with pid [26578]
[ INFO] [1439215549.946923222, 10.891000000]: Self see link name r_gripper_r_finger_tip_link padding 0.04
[ INFO] [1439215549.990577332, 10.912000000]: Self see link name r_shoulder_pan_link padding 0.01
[ INFO] [1439215550.034702236, 10.918000000]: Self see link name r_shoulder_lift_link padding 0.01
process[pr2_move_base_node-79]: started with pid [26646]
[ERROR] [1439215550.444542279, 11.197000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439215550.536696818, 11.239000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439215550.643894898, 11.282000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439215550.744140175, 11.338000000]: Can't transform viewpoint for ground plan detection
process[move_base_node/local_costmap/voxel_grid_throttle-80]: started with pid [26654]
[ERROR] [1439215550.846805557, 11.381000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439215550.951370589, 11.437000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439215551.090874036, 11.514000000]: Can't transform viewpoint for ground plan detection
[ERROR] [1439215551.185000785, 11.566000000]: Can't transform viewpoint for ground plan detection
process[move_base_node-81]: started with pid [26707]
process[tilt_laser_mux-82]: started with pid [26781]
process[empty_cloud_publisher-83]: started with pid [26819]
process[look_forward_in_navigation-84]: started with pid [26824]
configuring by "/home/aginika/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage /home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/publish_empty_cloud.py:11: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('empty_cloud', PointCloud2)
;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x65f38e0[16374] --> 0x6a57820[32748] top=37cd
irtgl irtviewer 
EusLisp 9.12(b7ac7e0 1.0.9) for Linux64 created on remi(Wed Aug 5 15:28:30 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 remi Wed Aug 5 15:28:30 JST 2015 b7ac7e0 1.0.9))
eustf roseus_c_util process[map_tfA_remi_16946_2523746109795995772-85]: started with pid [26848]
process[map_server00_remi_16946_3438734948484772181-86]: started with pid [26867]
process[map_server01_remi_16946_4052744625539021589-87]: started with pid [26890]
process[map_server02_remi_16946_3359565902842329775-88]: started with pid [26913]
process[map_server03_remi_16946_46098703617495288-89]: started with pid [26936]
process[map_server04_remi_16946_4757149485181239492-90]: started with pid [26960]
process[map_server-91]: started with pid [26983]
process[map_tf00_remi_16946_8732399350642599430-92]: started with pid [27037]
process[map_tf01_remi_16946_1005449067381205573-93]: started with pid [27105]
process[map_tf02_remi_16946_3879394980243762279-94]: started with pid [27183]
process[map_tf03_remi_16946_1149989719804742226-95]: started with pid [27408]
process[map_tf04_remi_16946_6893393503744235176-96]: started with pid [27793]
[ERROR] [1439215558.095703663, 14.565000000]: Failed to load a plugin. Using default recovery behaviors. Error: According to the loaded plugin descriptions the class move_slow_and_clear/MoveSlowAndClear with base class type nav_core::RecoveryBehavior does not exist. Declared types are  clear_costmap_recovery/ClearCostmapRecovery rotate_recovery/RotateRecovery
process[map_tf05_remi_16946_313161199508499825-97]: started with pid [27948]
[WARN] [WallTime: 1439215558.477149] [14.723000] You've passed in true for auto_start to the python action server, you should always pass in false to avoid race conditions.
[ INFO] [1439215558.492339804, 14.728000000]: LaserScannerTrajControllerNode: set traj command
[ INFO] [1439215558.492497887, 14.728000000]: Trajectory:: interpolation type blended_linear
[ INFO] [1439215558.492614829, 14.728000000]: LaserScannerTrajController: Trajectory Command set. Duration=2.3125 sec
process[map_tf06_remi_16946_6554783043479538730-98]: started with pid [28104]
process[map_tf07_remi_16946_6675138263656305424-99]: started with pid [28123]
process[map_tf08_remi_16946_7732169546619404740-100]: started with pid [28142]
;; #<linear-joint #X8e3abd8 torso_lift_joint> :joint-angle(11.4978) violate min-angle(11.5)
process[map_tf09_remi_16946_4225440268859792312-101]: started with pid [28161]
process[tf_mux-102]: started with pid [28181]
process[map_tfB_remi_16946_8342867646097622865-103]: started with pid [28237]
process[initialpose3d-104]: started with pid [28262]
process[publish_spot-105]: started with pid [28269]
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_demos/jsk_maps/tools/initialpose3d.py:55: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('initialpose_out', PoseWithCovarianceStamped)
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_demos/jsk_maps/tools/initialpose3d.py:57: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  map_select = rospy.Publisher('map_reload', String)
configuring by "/home/aginika/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x4d808e0[16374] --> 0x51e4800[32748] top=37cd
irtgl irtviewer 
EusLisp 9.12(b7ac7e0 1.0.9) for Linux64 created on remi(Wed Aug 5 15:28:30 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 remi Wed Aug 5 15:28:30 JST 2015 b7ac7e0 1.0.9))
[ INFO] [1439215562.203119595]: install ros::roseus-sigint-handler
eustf process[sound_node_jp-106]: started with pid [28292]
roseus_c_util /opt/ros/indigo/lib/sound_play/soundplay_node.py:302: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.diagnostic_pub = rospy.Publisher("/diagnostics", DiagnosticArray)
process[battery_warning-107]: started with pid [28335]
configuring by "/home/aginika/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x58028e0[16374] --> 0x5c66800[32748] top=37cd
irtgl irtviewer 
EusLisp 9.12(b7ac7e0 1.0.9) for Linux64 created on remi(Wed Aug 5 15:28:30 JST 2015)
roseus ;; loading roseus("c1aac9c") on euslisp((9.12 remi Wed Aug 5 15:28:30 JST 2015 b7ac7e0 1.0.9))
eustf roseus_c_util process[battery_visualization-108]: started with pid [28339]
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
;;3 face-to-face contact(s) found.
;;2 face-to-face alignment(s) found.
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:16: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub0 = rospy.Publisher("/visualization/battery/value0", Float32)
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:17: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub1 = rospy.Publisher("/visualization/battery/value1", Float32)
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:18: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub2 = rospy.Publisher("/visualization/battery/value2", Float32)
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_visualization.py:19: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  battery_pub3 = rospy.Publisher("/visualization/battery/value3", Float32)
process[screenpoint_manager-109]: started with pid [28403]
[ INFO] [1439215563.963167782]: Initializing nodelet with 8 worker threads.
Color name not found Color name not found process[depth_image_creator_nodelet-110]: started with pid [28436]
[ INFO] [1439215564.362360329]: Loading nodelet /depth_image_creator_nodelet of type jsk_pcl/DepthImageCreator to manager screenpoint_manager with the following remappings:
[ INFO] [1439215564.362838670]: /depth_image_creator_nodelet/info -> /camera_info_input_mux
[ INFO] [1439215564.362863008]: /depth_image_creator_nodelet/input -> /points_input_mux
[ INFO] [1439215564.362880945]: /depth_image_creator_nodelet/output_cloud -> /screenpoint_manager/points
[ INFO] [1439215564.692718703, 17.339000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] [/depth_image_creator_nodelet::onInit]
[ INFO] [1439215564.693832064, 17.339000000]: [static tf::TransformListener* jsk_pcl_ros::TfListenerSingleton::getInstance()] instantiating tf::TransformListener
[ INFO] [1439215564.706894150, 17.342000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] scale_depth : 5.000000
[ INFO] [1439215564.709954958, 17.343000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_fixed_transform : 0
[ INFO] [1439215564.712550413, 17.344000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_service : 0
[ INFO] [1439215564.714743580, 17.344000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_asynchronous : 0
[ INFO] [1439215564.717540771, 17.345000000]: [virtual void jsk_pcl_ros::DepthImageCreator::onInit()] use_approximate : 1
process[pointcloud_screenpoint_nodelet-111]: started with pid [28500]
[ INFO] [1439215564.775989083]: Loading nodelet /pointcloud_screenpoint_nodelet of type jsk_pcl/PointcloudScreenpoint to manager screenpoint_manager with the following remappings:
[ INFO] [1439215564.776040960]: /pointcloud_screenpoint_nodelet/points -> /screenpoint_manager/points
process[multiple_joystick_mux-112]: started with pid [28610]
process[face_detector-113]: started with pid [28647]
[ INFO] [1439215566.037327156]: Constructing FaceDetector.
[ERROR] [1439215566.067055477]: Cascade file /opt/ros/indigo/share/ros/../OpenCV/haarcascades/haarcascade_frontalface_alt.xml doesn't exist.
[ INFO] [1439215566.068449499]: You must subscribe to one of FaceDetector's outbound topics or else it will not publish anything.
process[leg_detector-114]: started with pid [28729]
[ INFO] [1439215566.558371658, 18.057000000]: Got a subscriber to scan, starting subscriber to pointcloud
process[people_velocity_tracker-115]: started with pid [28843]
process[finish_launch_sound-116]: started with pid [28849]
Color name not found Color name not found /opt/ros/indigo/lib/people_velocity_tracker/tracker.py:90: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.mpub = rospy.Publisher('/visualization_marker', Marker)
/opt/ros/indigo/lib/people_velocity_tracker/tracker.py:91: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.ppub = rospy.Publisher('/people', People)
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_robot_common/jsk_robot_startup/util/finish_launch_sound.py:8: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  p = rospy.Publisher("/robotsound", SoundRequest)
transparent: body #<scene-model #X5e93630 71a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X60ebb18 71b  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X61bd9a0 71c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X642e270 72a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X64aac30 72b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X64d6790 72b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X64dc8e8 72d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<body #X6450de0 corridor1 (:prism (#f(0.0 0.0 0.0) #f(-1000.0 6.123234e-14 0.0) #f(-1000.0 14800.0 0.0) #f(1000.0 14800.0 0.0) #f(1000.0 -6.123234e-14 0.0) #f(0.0 0.0 0.0)) 1) 0.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X64f7e60 corridor2 (:prism (#f(0.0 -6600.0 0.0) #f(-1000.0 -6600.0 0.0) #f(-1000.0 -20700.0 0.0) #f(1000.0 -20700.0 0.0) #f(1000.0 -6600.0 0.0) #f(0.0 -6600.0 0.0)) 1) 0.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X64f7938 corridor3 (:prism (#f(0.0 -27300.0 0.0) #f(-1000.0 -27300.0 0.0) #f(-1000.0 -42100.0 0.0) #f(1000.0 -42100.0 0.0) #f(1000.0 -27300.0 0.0) #f(0.0 -27300.0 0.0)) 1) 0.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X64fcc50 corridor4 (:prism (#f(1010.0 -3300.0 0.0) #f(1010.0 -1950.0 0.0) #f(34329.0 -1950.0 0.0) #f(34329.0 -4650.0 0.0) #f(1010.0 -4650.0 0.0) #f(1010.0 -3300.0 0.0)) 1) 1010.0 -3300.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X64fc860 corridor5 (:prism (#f(35339.0 0.0 0.0) #f(34339.0 6.123234e-14 0.0) #f(34339.0 14800.0 0.0) #f(36339.0 14800.0 0.0) #f(36339.0 -6.123234e-14 0.0) #f(35339.0 0.0 0.0)) 1) 35339.0 0.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X65091c8 corridor6 (:prism (#f(35339.0 -6600.0 0.0) #f(34339.0 -6600.0 0.0) #f(34339.0 -20700.0 0.0) #f(36339.0 -20700.0 0.0) #f(36339.0 -6600.0 0.0) #f(35339.0 -6600.0 0.0)) 1) 35339.0 -6600.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X65348a0 corridor7 (:prism (#f(35339.0 -27300.0 0.0) #f(34339.0 -27300.0 0.0) #f(34339.0 -42100.0 0.0) #f(36339.0 -42100.0 0.0) #f(36339.0 -27300.0 0.0) #f(35339.0 -27300.0 0.0)) 1) 35339.0 -27300.0 0.0 / 1.571 0.0 0.0> param 0.3 face-color :orange
transparent: body #<body #X6540968 corridor8 (:prism (#f(1010.0 -24110.0 0.0) #f(1010.0 -22760.0 0.0) #f(34329.0 -22760.0 0.0) #f(34329.0 -25460.0 0.0) #f(1010.0 -25460.0 0.0) #f(1010.0 -24110.0 0.0)) 1) 1010.0 -24110.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :orange
transparent: body #<scene-model #X6401c00 81a1  -1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X64f7de8 81b2  1010.0 -37800.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X652f338 81c2  34329.0 -30750.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e68678 82a1  -1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e547e8 82b1  1010.0 -17100.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e4c490 82b2  1010.0 -10200.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e3f008 82d1  36349.0 -20550.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X6e2b850 83a1  -1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :deeppink
transparent: body #<scene-model #X6e295b8 83a2  -1010.0 7050.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lightpink
transparent: body #<scene-model #X6e25ef8 83a3  -1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :lawngreen
transparent: body #<scene-model #X6e22bb0 83a4  -1010.0 13950.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<room83b1-scene #X6e21e30 83b1  1010.0 3600.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :darkviolet
transparent: body #<scene-model #X782a150 83b2  1010.0 10500.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
transparent: body #<scene-model #X7813260 83d1  36349.0 150.0 0.0 / 0.0 0.0 0.0> param 0.3 face-color :dodgerblue
could not found object(room73b2-x-leg-desk)[ERROR] [1439215569.760849766, 19.297000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ERROR] [1439215569.763411018, 19.299000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ERROR] [1439215569.765267021, 19.300000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ERROR] [1439215569.766217317, 19.300000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[finish_launch_sound-116] process has finished cleanly
log file: /home/aginika/.ros/log/c7013aa0-3f68-11e5-970f-001f29030e5b/finish_launch_sound-116*.log
[ERROR] [1439215590.355983588, 29.304000000]: [jsk_maps/publish_spot.l] map-selected is empty! please publish /map_tf_mux/selected
[ INFO] [1439215611.801848712, 39.301000000]: current-map /eng2/7f/ #<cascaded-coords #X745dc98 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215633.983929154, 49.300000000]: current-map /eng2/7f/ #<cascaded-coords #X75f5750 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215657.128530059, 59.302000000]: current-map /eng2/7f/ #<cascaded-coords #X789eb68 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215681.112804500, 69.300000000]: current-map /eng2/7f/ #<cascaded-coords #X774aab8 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215706.533101719, 79.304000000]: current-map /eng2/7f/ #<cascaded-coords #X8a0c3d0 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215732.392860635, 89.300000000]: current-map /eng2/7f/ #<cascaded-coords #X93a8648 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;   dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;      diff : 0.016433 < 0.001
;; :look-at failed.
;;     count : 100
;; p-dif-rot : #f(0.0 2.65796 0.0)/(2.65796)
;;   dif-rot : #f(0.0 2.64153 0.0)/(2.64153)
;;      diff : 0.016433 < 0.001
[ INFO] [1439215758.192649127, 99.300000000]: current-map /eng2/7f/ #<cascaded-coords #X85690f0 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215780.458856343, 109.301000000]: current-map /eng2/7f/ #<cascaded-coords #X85a4bb8 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215804.807510251, 119.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xa92c808 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215827.039314594, 129.303000000]: current-map /eng2/7f/ #<cascaded-coords #X8a0e050 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215848.263476631, 139.300000000]: current-map /eng2/7f/ #<cascaded-coords #X889c540 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
[ INFO] [1439215869.633770879, 149.301000000]: current-map /eng2/7f/ #<cascaded-coords #Xaabea78 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215891.808335624, 159.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xa0d3398 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215913.498606230, 169.302000000]: current-map /eng2/7f/ #<cascaded-coords #X9dbdcd0 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215935.681567884, 179.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xb3f75e0 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_3rdparty/3rdparty/voice_text//text2wave: line 23: nkf: command not found
ssh: Could not resolve hostname c2: Name or service not known
lost connection
command-line: line 0: Bad configuration option: /tmp/sound_playfyolsg.wav
ssh: Could not resolve hostname c2: Name or service not known
[ERROR] [WallTime: 1439215938.740190] [180.769000] Sound synthesis failed. Is festival installed? Is a festival voice installed? Try running "rosdep satisfy sound_play|sh". Refer to http://pr.willowgarage.com/wiki/sound_play/Troubleshooting
[ INFO] [1439215957.088107243, 189.301000000]: current-map /eng2/7f/ #<cascaded-coords #Xa80e630 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439215978.502366141, 199.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xa923970 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216001.053032359, 209.304000000]: current-map /eng2/7f/ #<cascaded-coords #Xb3eec70 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216022.595274203, 219.301000000]: current-map /eng2/7f/ #<cascaded-coords #Xaa0a0a0 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216043.793167078, 229.301000000]: current-map /eng2/7f/ #<cascaded-coords #X9d3d948 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216065.138091146, 239.300000000]: current-map /eng2/7f/ #<cascaded-coords #X9f0d9d8 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216086.346114789, 249.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xa279200 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216107.787504546, 259.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xa392828 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216129.544069069, 269.301000000]: current-map /eng2/7f/ #<cascaded-coords #Xa5625b8 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216151.297716611, 279.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xa68bc28 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216173.479202327, 289.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xa7d5f48 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216195.839850320, 299.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xb09e358 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216217.805534197, 309.301000000]: current-map /eng2/7f/ #<cascaded-coords #Xb7bdf20 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216240.187521757, 319.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xb892c08 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216261.168018427, 329.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xb9b9428 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216282.142961164, 339.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xba8d2a0 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216303.159682741, 349.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xbbb1078 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216324.494423896, 359.301000000]: current-map /eng2/7f/ #<cascaded-coords #Xbcd5150 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
/home/aginika/ros/indigo/src/jsk-ros-pkg/jsk_3rdparty/3rdparty/voice_text//text2wave: line 23: nkf: command not found
ssh: Could not resolve hostname c2: Name or service not known
lost connection
command-line: line 0: Bad configuration option: /tmp/sound_playm5df1t.wav
ssh: Could not resolve hostname c2: Name or service not known
[ERROR] [WallTime: 1439216326.570516] [360.238000] Sound synthesis failed. Is festival installed? Is a festival voice installed? Try running "rosdep satisfy sound_play|sh". Refer to http://pr.willowgarage.com/wiki/sound_play/Troubleshooting
[ INFO] [1439216346.462296876, 369.300000000]: current-map /eng2/7f/ #<cascaded-coords #Xbdac580 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216368.361651548, 379.301000000]: current-map /eng2/7f/ #<cascaded-coords #X6e8f1b0 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216391.212530281, 389.300000000]: current-map /eng2/7f/ #<cascaded-coords #X7096490 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216413.992963397, 399.300000000]: current-map /eng2/7f/ #<cascaded-coords #X72cdb90 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216436.295656966, 409.300000000]: current-map /eng2/7f/ #<cascaded-coords #X71e8018 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>
[ INFO] [1439216459.595081974, 419.300000000]: current-map /eng2/7f/ #<cascaded-coords #X74404d8 /world  0.0 0.0 30000.0 / 0.0 0.0 0.0>

jsk-ros-pkg / jsk_robot

pr2_gazebo.launch fails on indigo #409